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Updated docs. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1377 f9c3cf11-9bcb-44bc-f272-b75c42450872
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james.goppert 2010-12-30 07:51:53 +00:00
parent cd341cef90
commit 4e421a319a
693 changed files with 11698 additions and 5109 deletions
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2
libraries/doc/Doxyfile
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@ -115,7 +115,7 @@ INLINE_INHERITED_MEMB = NO
# path before files name in the file list and in the header files. If set
# to NO the shortest path that makes the file name unique will be used.
FULL_PATH_NAMES = YES
FULL_PATH_NAMES = NO
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
# can be used to strip a user-defined part of the path. Stripping is

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libraries/doc/html/_a_p___a_d_c_8cpp.html
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.cpp File Reference</title>
<title>ArduPilot Libraries: AP_ADC.cpp File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
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@ -28,16 +29,16 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.cpp File Reference</h1> </div>
<h1>AP_ADC.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___a_d_c_8h_source.html">AP_ADC.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_ADC.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___a_d_c_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c_8cpp" alt=""/></div>
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</div>
<p><a href="_a_p___a_d_c_8cpp_source.html">Go to the source code of this file.</a></p>

5
libraries/doc/html/_a_p___a_d_c_8cpp_source.html
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.cpp Source File</title>
<title>ArduPilot Libraries: AP_ADC.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -27,7 +28,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.cpp</h1> </div>
<h1>AP_ADC.cpp</h1> </div>
</div>
<div class="contents">
<a href="_a_p___a_d_c_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>

17
libraries/doc/html/_a_p___a_d_c_8h.html
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.h File Reference</title>
<title>ArduPilot Libraries: AP_ADC.h File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
@ -30,7 +31,7 @@
<div class="summary">
<a href="#nested-classes">Classes</a> </div>
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.h File Reference</h1> </div>
<h1>AP_ADC.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___a_d_c___a_d_s7844_8h_source.html">AP_ADC_ADS7844.h</a>&quot;</code><br/>
@ -38,16 +39,16 @@
<div class="dynheader">
Include dependency graph for AP_ADC.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___a_d_c_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c_8h" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___a_d_c___a_d_s7844_8h.html" title="AP_ADC_ADS7844.h" alt="" coords="39,83,191,112"/><area shape="rect" id="node6" href="_a_p___a_d_c___h_i_l_8h.html" title="AP_ADC_HIL.h" alt="" coords="215,83,327,112"/></map>
<div class="center"><img src="_a_p___a_d_c_8h__incl.png" border="0" usemap="#_a_p___a_d_c_8h" alt=""/></div>
<map name="_a_p___a_d_c_8h" id="_a_p___a_d_c_8h">
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</div>
<div class="dynheader">
This graph shows which files directly or indirectly include this file:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___a_d_c_8h__dep__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c_8hdep" alt=""/></div>
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<div class="center"><img src="_a_p___a_d_c_8h__dep__incl.png" border="0" usemap="#_a_p___a_d_c_8hdep" alt=""/></div>
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</div>
<p><a href="_a_p___a_d_c_8h_source.html">Go to the source code of this file.</a></p>

5
libraries/doc/html/_a_p___a_d_c_8h_source.html
View File

@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.h Source File</title>
<title>ArduPilot Libraries: AP_ADC.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -27,7 +28,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC.h</h1> </div>
<h1>AP_ADC.h</h1> </div>
</div>
<div class="contents">
<a href="_a_p___a_d_c_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_ADC_H</span>

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libraries/doc/html/_a_p___a_d_c___a_d_s7844_8cpp.html
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.cpp File Reference</title>
<title>ArduPilot Libraries: AP_ADC_ADS7844.cpp File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
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@ -30,7 +31,7 @@
<div class="summary">
<a href="#func-members">Functions</a> </div>
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.cpp File Reference</h1> </div>
<h1>AP_ADC_ADS7844.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;inttypes.h&gt;</code><br/>
@ -40,9 +41,9 @@
<div class="dynheader">
Include dependency graph for AP_ADC_ADS7844.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___a_d_c___a_d_s7844_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c___a_d_s7844_8cpp" alt=""/></div>
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<div class="center"><img src="_a_p___a_d_c___a_d_s7844_8cpp__incl.png" border="0" usemap="#_a_p___a_d_c___a_d_s7844_8cpp" alt=""/></div>
<map name="_a_p___a_d_c___a_d_s7844_8cpp" id="_a_p___a_d_c___a_d_s7844_8cpp">
<area shape="rect" id="node9" href="_a_p___a_d_c___a_d_s7844_8h.html" title="AP_ADC_ADS7844.h" alt="" coords="291,83,443,112"/><area shape="rect" id="node11" href="_a_p___a_d_c_8h.html" title="AP_ADC.h" alt="" coords="325,160,410,189"/><area shape="rect" id="node14" href="_a_p___a_d_c___h_i_l_8h.html" title="AP_ADC_HIL.h" alt="" coords="311,237,423,267"/></map>
</div>
<p><a href="_a_p___a_d_c___a_d_s7844_8cpp_source.html">Go to the source code of this file.</a></p>

5
libraries/doc/html/_a_p___a_d_c___a_d_s7844_8cpp_source.html
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.cpp Source File</title>
<title>ArduPilot Libraries: AP_ADC_ADS7844.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -27,7 +28,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.cpp</h1> </div>
<h1>AP_ADC_ADS7844.cpp</h1> </div>
</div>
<div class="contents">
<a href="_a_p___a_d_c___a_d_s7844_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>

17
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.h File Reference</title>
<title>ArduPilot Libraries: AP_ADC_ADS7844.h File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
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@ -31,23 +32,23 @@
<a href="#nested-classes">Classes</a> &#124;
<a href="#define-members">Defines</a> </div>
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.h File Reference</h1> </div>
<h1>AP_ADC_ADS7844.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___a_d_c_8h_source.html">AP_ADC.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_ADC_ADS7844.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___a_d_c___a_d_s7844_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c___a_d_s7844_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<div class="center"><img src="_a_p___a_d_c___a_d_s7844_8h__dep__incl.png" border="0" usemap="#_a_p___a_d_c___a_d_s7844_8hdep" alt=""/></div>
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<p><a href="_a_p___a_d_c___a_d_s7844_8h_source.html">Go to the source code of this file.</a></p>

5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.h Source File</title>
<title>ArduPilot Libraries: AP_ADC_ADS7844.h Source File</title>
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@ -14,6 +14,7 @@
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_ADS7844.h</h1> </div>
<h1>AP_ADC_ADS7844.h</h1> </div>
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<a href="_a_p___a_d_c___a_d_s7844_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_ADC_ADS7844_H</span>

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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.cpp File Reference</title>
<title>ArduPilot Libraries: AP_ADC_HIL.cpp File Reference</title>
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@ -14,6 +14,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.cpp File Reference</h1> </div>
<h1>AP_ADC_HIL.cpp File Reference</h1> </div>
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<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___a_d_c___h_i_l_8h_source.html">AP_ADC_HIL.h</a>&quot;</code><br/>
@ -36,8 +37,8 @@
<div class="dynheader">
Include dependency graph for AP_ADC_HIL.cpp:</div>
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<div class="center"><img src="_a_p___a_d_c___h_i_l_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c___h_i_l_8cpp" alt=""/></div>
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<div class="center"><img src="_a_p___a_d_c___h_i_l_8cpp__incl.png" border="0" usemap="#_a_p___a_d_c___h_i_l_8cpp" alt=""/></div>
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<title>ArduPilot Libraries: AP_ADC_HIL.cpp Source File</title>
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.cpp</h1> </div>
<h1>AP_ADC_HIL.cpp</h1> </div>
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<a href="_a_p___a_d_c___h_i_l_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___a_d_c___h_i_l_8h.html">AP_ADC_HIL.h</a>&quot;</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.h File Reference</title>
<title>ArduPilot Libraries: AP_ADC_HIL.h File Reference</title>
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@ -30,7 +31,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.h File Reference</h1> </div>
<h1>AP_ADC_HIL.h File Reference</h1> </div>
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<div class="contents">
<code>#include &lt;inttypes.h&gt;</code><br/>
@ -38,16 +39,16 @@
<div class="dynheader">
Include dependency graph for AP_ADC_HIL.h:</div>
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<div class="center"><img src="_a_p___a_d_c___h_i_l_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c___h_i_l_8h" alt=""/></div>
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<div class="center"><img src="_a_p___a_d_c___h_i_l_8h__incl.png" border="0" usemap="#_a_p___a_d_c___h_i_l_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<div class="center"><img src="_a_p___a_d_c___h_i_l_8h__dep__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___a_d_c_2_a_p___a_d_c___h_i_l_8hdep" alt=""/></div>
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.h Source File</title>
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_ADC/AP_ADC_HIL.h</h1> </div>
<h1>AP_ADC_HIL.h</h1> </div>
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<a href="_a_p___a_d_c___h_i_l_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_ADC_HIL_H</span>

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@ -28,7 +29,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Common.cpp File Reference</h1> </div>
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@ -38,9 +39,9 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Common.cpp</h1> </div>
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<a href="_a_p___common_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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</div>
<div class="contents">
@ -41,19 +42,20 @@
<code>#include &quot;<a class="el" href="c_09_09_8h_source.html">c++.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___vector_8h_source.html">AP_Vector.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___loop_8h_source.html">AP_Loop.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___var_8h_source.html">AP_Var.h</a>&quot;</code><br/>
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Include dependency graph for AP_Common.h:</div>
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@ -61,7 +63,6 @@ This graph shows which files directly or indirectly include this file:</div>
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_location.html">Location</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___var.html">AP_Var&lt; type &gt;</a></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Warning control</div></td></tr>
@ -72,7 +73,10 @@ Defines</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Conversions</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p><a class="anchor" id="amgrp6332798b12e537b25b1c6ad254e14f54"></a> Conversion macros and factors. </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">ToRad</a>(x)&nbsp;&nbsp;&nbsp;(x*0.01745329252)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___common_8h.html#a3c9d151923236c7e8ccccf86f131e550">ToDeg</a>(x)&nbsp;&nbsp;&nbsp;(x*57.2957795131)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___common_8h.html#a3c9d151923236c7e8ccccf86f131e550">ToDeg</a>(x)&nbsp;&nbsp;&nbsp;(x*57.2957795131)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">ToRad</a>(x)&nbsp;&nbsp;&nbsp;(x*0.01745329252)</td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Common definitions and utility routines for the ArduPilot libraries. </p>
@ -90,7 +94,7 @@ Defines</h2></td></tr>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00064">64</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00065">65</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>
@ -110,7 +114,7 @@ Defines</h2></td></tr>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00066">66</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00067">67</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>
@ -131,7 +135,68 @@ Defines</h2></td></tr>
<div class="memdoc">
<p>XXX this should probably be replaced with radians()/degrees(), but their inclusion in wiring.h makes doing that here difficult. </p>
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00177">177</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00105">105</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3c9d151923236c7e8ccccf86f131e550"></a><!-- doxytag: member="AP_Common.h::ToDeg" ref="a3c9d151923236c7e8ccccf86f131e550" args="(x)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">#define ToDeg</td>
<td>(</td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">x</td>
<td>&nbsp;)&nbsp;</td>
<td>&nbsp;&nbsp;&nbsp;(x*57.2957795131)</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>XXX this should probably be replaced with radians()/degrees(), but their inclusion in wiring.h makes doing that here difficult. </p>
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00105">105</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>
<a class="anchor" id="a728f9499baea61e7df3ae70a374f2512"></a><!-- doxytag: member="AP_Common.h::ToRad" ref="a728f9499baea61e7df3ae70a374f2512" args="(x)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">#define ToRad</td>
<td>(</td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">x</td>
<td>&nbsp;)&nbsp;</td>
<td>&nbsp;&nbsp;&nbsp;(x*0.01745329252)</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00106">106</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>
<a class="anchor" id="a728f9499baea61e7df3ae70a374f2512"></a><!-- doxytag: member="AP_Common.h::ToRad" ref="a728f9499baea61e7df3ae70a374f2512" args="(x)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">#define ToRad</td>
<td>(</td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">x</td>
<td>&nbsp;)&nbsp;</td>
<td>&nbsp;&nbsp;&nbsp;(x*0.01745329252)</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___common_8h_source.html#l00106">106</a> of file <a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>.</p>
</div>
</div>

175
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Common/AP_Common.h Source File</title>
<title>ArduPilot Libraries: AP_Common.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
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@ -14,6 +14,7 @@
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Common.h</h1> </div>
<h1>AP_Common.h</h1> </div>
</div>
<div class="contents">
<a href="_a_p___common_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
@ -47,116 +48,76 @@
<a name="l00020"></a>00020 <span class="preprocessor">#include &quot;<a class="code" href="c_09_09_8h.html">c++.h</a>&quot;</span> <span class="comment">// c++ additions</span>
<a name="l00021"></a>00021 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___vector_8h.html">AP_Vector.h</a>&quot;</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___loop_8h.html">AP_Loop.h</a>&quot;</span>
<a name="l00023"></a>00023
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">//</span>
<a name="l00028"></a>00028 <span class="comment">// Turn on/off warnings of interest.</span>
<a name="l00029"></a>00029 <span class="comment">//</span>
<a name="l00030"></a>00030 <span class="comment">// These warnings are normally suppressed by the Arduino IDE,</span>
<a name="l00031"></a>00031 <span class="comment">// but with some minor hacks it&#39;s possible to have warnings</span>
<a name="l00032"></a>00032 <span class="comment">// emitted. This helps greatly when diagnosing subtle issues.</span>
<a name="l00033"></a>00033 <span class="comment">//</span>
<a name="l00034"></a>00034 <span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wall&quot;</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wextra&quot;</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wlogical-op&quot;</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wredundant-decls&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="comment">// Make some dire warnings into errors</span>
<a name="l00040"></a>00040 <span class="comment">//</span>
<a name="l00041"></a>00041 <span class="comment">// Some warnings indicate questionable code; rather than let</span>
<a name="l00042"></a>00042 <span class="comment">// these slide, we force them to become errors so that the</span>
<a name="l00043"></a>00043 <span class="comment">// developer has to find a safer alternative.</span>
<a name="l00044"></a>00044 <span class="comment">//</span>
<a name="l00045"></a>00045 <span class="preprocessor">#pragma GCC diagnostic error &quot;-Wfloat-equal&quot;</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="comment">// The following is strictly for type-checking arguments to printf_P calls</span>
<a name="l00048"></a>00048 <span class="comment">// in conjunction with a suitably modified Arduino IDE; never define for</span>
<a name="l00049"></a>00049 <span class="comment">// production as it generates bad code.</span>
<a name="l00050"></a>00050 <span class="comment">//</span>
<a name="l00051"></a>00051 <span class="preprocessor">#if PRINTF_FORMAT_WARNING_DEBUG</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor"># undef PSTR</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor"># define PSTR(_x) _x // help the compiler with printf_P</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor"># define float double // silence spurious format warnings for %f</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="comment">// This is a workaround for GCC bug c++/34734.</span>
<a name="l00057"></a>00057 <span class="comment">//</span>
<a name="l00058"></a>00058 <span class="comment">// The C++ compiler normally emits many spurious warnings for the use</span>
<a name="l00059"></a>00059 <span class="comment">// of PSTR (even though it generates correct code). This workaround</span>
<a name="l00060"></a>00060 <span class="comment">// has an equivalent effect but avoids the warnings, which otherwise</span>
<a name="l00061"></a>00061 <span class="comment">// make finding real issues difficult.</span>
<a name="l00062"></a>00062 <span class="comment">//</span>
<a name="l00063"></a>00063 <span class="preprocessor"># undef PROGMEM </span>
<a name="l00064"></a><a class="code" href="_a_p___common_8h.html#a75acaba9e781937468d0911423bc0c35">00064</a> <span class="preprocessor"></span><span class="preprocessor"># define PROGMEM __attribute__(( section(&quot;.progmem.data&quot;) )) </span>
<a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor"># undef PSTR </span>
<a name="l00066"></a><a class="code" href="_a_p___common_8h.html#a05ca900ebf7cd121be73c654d9ccb3eb">00066</a> <span class="preprocessor"></span><span class="preprocessor"># define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &amp;__c[0];})) </span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___var_8h.html">AP_Var.h</a>&quot;</span>
<a name="l00024"></a>00024
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="comment">//</span>
<a name="l00029"></a>00029 <span class="comment">// Turn on/off warnings of interest.</span>
<a name="l00030"></a>00030 <span class="comment">//</span>
<a name="l00031"></a>00031 <span class="comment">// These warnings are normally suppressed by the Arduino IDE,</span>
<a name="l00032"></a>00032 <span class="comment">// but with some minor hacks it&#39;s possible to have warnings</span>
<a name="l00033"></a>00033 <span class="comment">// emitted. This helps greatly when diagnosing subtle issues.</span>
<a name="l00034"></a>00034 <span class="comment">//</span>
<a name="l00035"></a>00035 <span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wall&quot;</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wextra&quot;</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic warning &quot;-Wlogical-op&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wredundant-decls&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="comment">// Make some dire warnings into errors</span>
<a name="l00041"></a>00041 <span class="comment">//</span>
<a name="l00042"></a>00042 <span class="comment">// Some warnings indicate questionable code; rather than let</span>
<a name="l00043"></a>00043 <span class="comment">// these slide, we force them to become errors so that the</span>
<a name="l00044"></a>00044 <span class="comment">// developer has to find a safer alternative.</span>
<a name="l00045"></a>00045 <span class="comment">//</span>
<a name="l00046"></a>00046 <span class="preprocessor">#pragma GCC diagnostic error &quot;-Wfloat-equal&quot;</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>
<a name="l00048"></a>00048 <span class="comment">// The following is strictly for type-checking arguments to printf_P calls</span>
<a name="l00049"></a>00049 <span class="comment">// in conjunction with a suitably modified Arduino IDE; never define for</span>
<a name="l00050"></a>00050 <span class="comment">// production as it generates bad code.</span>
<a name="l00051"></a>00051 <span class="comment">//</span>
<a name="l00052"></a>00052 <span class="preprocessor">#if PRINTF_FORMAT_WARNING_DEBUG</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor"># undef PSTR</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor"># define PSTR(_x) _x // help the compiler with printf_P</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor"># define float double // silence spurious format warnings for %f</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="comment">// This is a workaround for GCC bug c++/34734.</span>
<a name="l00058"></a>00058 <span class="comment">//</span>
<a name="l00059"></a>00059 <span class="comment">// The C++ compiler normally emits many spurious warnings for the use</span>
<a name="l00060"></a>00060 <span class="comment">// of PSTR (even though it generates correct code). This workaround</span>
<a name="l00061"></a>00061 <span class="comment">// has an equivalent effect but avoids the warnings, which otherwise</span>
<a name="l00062"></a>00062 <span class="comment">// make finding real issues difficult.</span>
<a name="l00063"></a>00063 <span class="comment">//</span>
<a name="l00064"></a>00064 <span class="preprocessor"># undef PROGMEM</span>
<a name="l00065"></a><a class="code" href="_a_p___common_8h.html#a75acaba9e781937468d0911423bc0c35">00065</a> <span class="preprocessor"></span><span class="preprocessor"># define PROGMEM __attribute__(( section(&quot;.progmem.data&quot;) ))</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor"># undef PSTR</span>
<a name="l00067"></a><a class="code" href="_a_p___common_8h.html#a05ca900ebf7cd121be73c654d9ccb3eb">00067</a> <span class="preprocessor"></span><span class="preprocessor"># define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &amp;__c[0];}))</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070
<a name="l00076"></a>00076
<a name="l00074"></a>00074 <span class="preprocessor">#define ToRad(x) (x*0.01745329252) // *pi/180</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#define ToDeg(x) (x*57.2957795131) // *180/pi</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="comment">// @}</span>
<a name="l00077"></a>00077
<a name="l00078"></a><a class="code" href="struct_location.html">00078</a> <span class="keyword">struct </span><a class="code" href="struct_location.html">Location</a> {
<a name="l00079"></a><a class="code" href="struct_location.html#a593656d91e577815782c34c538d9d3e8">00079</a> uint8_t <a class="code" href="struct_location.html#a593656d91e577815782c34c538d9d3e8" title="command id">id</a>;
<a name="l00080"></a><a class="code" href="struct_location.html#a37174be5ef591767697043ca8b95155c">00080</a> uint8_t <a class="code" href="struct_location.html#a37174be5ef591767697043ca8b95155c" title="param 1">p1</a>;
<a name="l00081"></a><a class="code" href="struct_location.html#a89e532f5bcc13db2f51ff9eed667c2b6">00081</a> int32_t <a class="code" href="struct_location.html#a89e532f5bcc13db2f51ff9eed667c2b6" title="param 2 - Altitude in centimeters (meters * 100)">alt</a>;
<a name="l00082"></a><a class="code" href="struct_location.html#ae51548c2cf32311043ca19b94b9a9223">00082</a> int32_t <a class="code" href="struct_location.html#ae51548c2cf32311043ca19b94b9a9223" title="param 3 - Lattitude * 10**7">lat</a>;
<a name="l00083"></a><a class="code" href="struct_location.html#a5831f0aca9e51a15adb96fad465f72f8">00083</a> int32_t <a class="code" href="struct_location.html#a5831f0aca9e51a15adb96fad465f72f8" title="param 4 - Longitude * 10**7">lng</a>;
<a name="l00084"></a>00084 };
<a name="l00078"></a>00078
<a name="l00084"></a>00084
<a name="l00085"></a>00085
<a name="l00091"></a>00091 <span class="keyword">template</span> &lt;<span class="keyword">class</span> type&gt;
<a name="l00092"></a><a class="code" href="class_a_p___var.html">00092</a> <span class="keyword">class </span><a class="code" href="class_a_p___var.html">AP_Var</a>
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <span class="keyword">public</span>:
<a name="l00098"></a><a class="code" href="class_a_p___var.html#a76488dc07d01ace3bf34ec4e00c3a061">00098</a> <a class="code" href="class_a_p___var.html#a76488dc07d01ace3bf34ec4e00c3a061">AP_Var</a>(<span class="keyword">const</span> type &amp; data, <span class="keyword">const</span> <span class="keywordtype">char</span> * name = <span class="stringliteral">&quot;&quot;</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> &amp; sync=<span class="keyword">false</span>) :
<a name="l00099"></a>00099 <a class="code" href="class_a_p___var.html#a03988b519ae71a3d59a74dede0b015f3">_data</a>(data), <a class="code" href="class_a_p___var.html#a0df623830e9c63d95c840f9b8c1d65d6">_name</a>(name), <a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a>(sync)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 }
<a name="l00086"></a><a class="code" href="struct_location.html">00086</a> <span class="keyword">struct </span><a class="code" href="struct_location.html">Location</a> {
<a name="l00087"></a><a class="code" href="struct_location.html#a593656d91e577815782c34c538d9d3e8">00087</a> uint8_t <a class="code" href="struct_location.html#a593656d91e577815782c34c538d9d3e8" title="command id">id</a>;
<a name="l00088"></a><a class="code" href="struct_location.html#a37174be5ef591767697043ca8b95155c">00088</a> uint8_t <a class="code" href="struct_location.html#a37174be5ef591767697043ca8b95155c" title="param 1">p1</a>;
<a name="l00089"></a><a class="code" href="struct_location.html#a89e532f5bcc13db2f51ff9eed667c2b6">00089</a> int32_t <a class="code" href="struct_location.html#a89e532f5bcc13db2f51ff9eed667c2b6" title="param 2 - Altitude in centimeters (meters * 100)">alt</a>;
<a name="l00090"></a><a class="code" href="struct_location.html#ae51548c2cf32311043ca19b94b9a9223">00090</a> int32_t <a class="code" href="struct_location.html#ae51548c2cf32311043ca19b94b9a9223" title="param 3 - Lattitude * 10**7">lat</a>;
<a name="l00091"></a><a class="code" href="struct_location.html#a5831f0aca9e51a15adb96fad465f72f8">00091</a> int32_t <a class="code" href="struct_location.html#a5831f0aca9e51a15adb96fad465f72f8" title="param 4 - Longitude * 10**7">lng</a>;
<a name="l00092"></a>00092 };
<a name="l00093"></a>00093
<a name="l00095"></a>00095
<a name="l00101"></a>00101
<a name="l00102"></a>00102
<a name="l00106"></a><a class="code" href="class_a_p___var.html#ac6d45de415b68d734876f3e4dd1e19f4">00106</a> <span class="keywordtype">void</span> <span class="keyword">set</span>(<span class="keyword">const</span> type &amp; val) {
<a name="l00107"></a>00107 <a class="code" href="class_a_p___var.html#a03988b519ae71a3d59a74dede0b015f3">_data</a> = val;
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (<a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a>) <a class="code" href="class_a_p___var.html#afa88a5ff01e70d17529c683016d62456">save</a>();
<a name="l00109"></a>00109 }
<a name="l00105"></a><a class="code" href="_a_p___common_8h.html#a3c9d151923236c7e8ccccf86f131e550">00105</a> <span class="preprocessor">#define ToDeg(x) (x*57.2957795131) // *180/pi</span>
<a name="l00106"></a><a class="code" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">00106</a> <span class="preprocessor"></span><span class="preprocessor">#define ToRad(x) (x*0.01745329252) // *pi/180</span>
<a name="l00107"></a>00107 <span class="preprocessor"></span>
<a name="l00109"></a>00109
<a name="l00110"></a>00110
<a name="l00114"></a><a class="code" href="class_a_p___var.html#a22c498cc35d5d69d1e4840bd4d9bacab">00114</a> <span class="keyword">const</span> type &amp; <span class="keyword">get</span>() {
<a name="l00115"></a>00115 <span class="keywordflow">if</span> (<a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a>) <a class="code" href="class_a_p___var.html#aa885a4c96d6e7b099bde8bde5669e407">load</a>();
<a name="l00116"></a>00116 <span class="keywordflow">return</span> <a class="code" href="class_a_p___var.html#a03988b519ae71a3d59a74dede0b015f3">_data</a>;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00122"></a><a class="code" href="class_a_p___var.html#a7020d3d4f67e959ebf73268c3da5002a">00122</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___var.html#a7020d3d4f67e959ebf73268c3da5002a">setAsFloat</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp; val) {
<a name="l00123"></a>00123 <span class="keyword">set</span>(val);
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00129"></a><a class="code" href="class_a_p___var.html#a1677d6dcfb4ea5d6780633b60c94419d">00129</a> <span class="keyword">const</span> <span class="keywordtype">float</span> &amp; <a class="code" href="class_a_p___var.html#a1677d6dcfb4ea5d6780633b60c94419d">getAsFloat</a>() {
<a name="l00130"></a>00130 <span class="keywordflow">return</span> <span class="keyword">get</span>();
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00133"></a>00133
<a name="l00137"></a><a class="code" href="class_a_p___var.html#afa88a5ff01e70d17529c683016d62456">00137</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___var.html#afa88a5ff01e70d17529c683016d62456">save</a>()
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00144"></a><a class="code" href="class_a_p___var.html#aa885a4c96d6e7b099bde8bde5669e407">00144</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___var.html#aa885a4c96d6e7b099bde8bde5669e407">load</a>()
<a name="l00145"></a>00145 {
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00151"></a><a class="code" href="class_a_p___var.html#aedd42dd2270968c5f834d851d7eee0dd">00151</a> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___var.html#aedd42dd2270968c5f834d851d7eee0dd">getName</a>() { <span class="keywordflow">return</span> <a class="code" href="class_a_p___var.html#a0df623830e9c63d95c840f9b8c1d65d6">_name</a>; }
<a name="l00152"></a>00152
<a name="l00157"></a><a class="code" href="class_a_p___var.html#aa59a0e6a2da3cdbbf97cde09bb437af4">00157</a> <span class="keyword">const</span> <span class="keywordtype">bool</span> &amp; <a class="code" href="class_a_p___var.html#aa59a0e6a2da3cdbbf97cde09bb437af4">getSync</a>() { <span class="keywordflow">return</span> <a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a>; }
<a name="l00158"></a><a class="code" href="class_a_p___var.html#a76c043beeb6b2d7e82155657f4ac99e1">00158</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___var.html#a76c043beeb6b2d7e82155657f4ac99e1">setSync</a>(<span class="keywordtype">bool</span> sync) { <a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a> = sync; }
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="keyword">protected</span>:
<a name="l00161"></a><a class="code" href="class_a_p___var.html#a03988b519ae71a3d59a74dede0b015f3">00161</a> type <a class="code" href="class_a_p___var.html#a03988b519ae71a3d59a74dede0b015f3">_data</a>;
<a name="l00162"></a><a class="code" href="class_a_p___var.html#a0df623830e9c63d95c840f9b8c1d65d6">00162</a> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___var.html#a0df623830e9c63d95c840f9b8c1d65d6">_name</a>;
<a name="l00163"></a><a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">00163</a> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___var.html#a45e789309835299b71050fda446b019a">_sync</a>;
<a name="l00164"></a>00164 };
<a name="l00165"></a>00165
<a name="l00167"></a>00167
<a name="l00173"></a>00173
<a name="l00174"></a>00174
<a name="l00177"></a><a class="code" href="_a_p___common_8h.html#a3c9d151923236c7e8ccccf86f131e550">00177</a> <span class="preprocessor">#define ToDeg(x) (x*57.2957795131) // *180/pi</span>
<a name="l00178"></a>00178 <span class="preprocessor"></span>
<a name="l00180"></a>00180
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="preprocessor">#endif // _AP_COMMON_H</span>
<a name="l00111"></a>00111 <span class="preprocessor">#endif // _AP_COMMON_H</span>
</pre></div></div>
</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass.h File Reference</h1> </div>
<h1>AP_Compass.h File Reference</h1> </div>
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<code>#include &quot;<a class="el" href="_a_p___compass___h_i_l_8h_source.html">AP_Compass_HIL.h</a>&quot;</code><br/>
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<a href="_a_p___compass___h_i_l_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
@ -47,126 +48,124 @@
<a name="l00015"></a><a class="code" href="class_a_p___compass___h_i_l.html#a54036d8a8354e8484db9f1ca33af9572">00015</a> <a class="code" href="class_a_p___compass___h_i_l.html#a54036d8a8354e8484db9f1ca33af9572">AP_Compass_HIL::AP_Compass_HIL</a>() : orientation(0), declination(0.0)
<a name="l00016"></a>00016 {
<a name="l00017"></a>00017 <span class="comment">// mag x y z offset initialisation</span>
<a name="l00018"></a>00018 offset[0] = 0;
<a name="l00019"></a>00019 offset[1] = 0;
<a name="l00020"></a>00020 offset[2] = 0;
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="comment">// initialise orientation matrix</span>
<a name="l00023"></a>00023 orientation_matrix = ROTATION_NONE;
<a name="l00024"></a>00024 }
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="comment">// Public Methods //////////////////////////////////////////////////////////////</span>
<a name="l00027"></a><a class="code" href="class_a_p___compass___h_i_l.html#aefa72efcf8536c3696a25de69f1731c7">00027</a> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___compass___h_i_l.html#aefa72efcf8536c3696a25de69f1731c7">AP_Compass_HIL::init</a>(<span class="keywordtype">int</span> initialise_wire_lib)
<a name="l00028"></a>00028 {
<a name="l00029"></a>00029 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> currentTime = <a class="code" href="test_8cpp.html#a941a22cb7e0f6429fe40f91e83ead3d9">millis</a>(); <span class="comment">// record current time</span>
<a name="l00030"></a>00030 <span class="keywordtype">int</span> numAttempts = 0;
<a name="l00031"></a>00031 <span class="keywordtype">int</span> success = 0;
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">// calibration initialisation</span>
<a name="l00034"></a>00034 calibration[0] = 1.0;
<a name="l00035"></a>00035 calibration[1] = 1.0;
<a name="l00036"></a>00036 calibration[2] = 1.0;
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keywordflow">while</span>( success == 0 &amp;&amp; numAttempts &lt; 5 )
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="comment">// record number of attempts at initialisation</span>
<a name="l00041"></a>00041 numAttempts++;
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">// read values from the compass</span>
<a name="l00044"></a>00044 <a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">read</a>();
<a name="l00045"></a>00045 delay(10);
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">// calibrate</span>
<a name="l00048"></a>00048 <span class="keywordflow">if</span>( abs(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>) &lt; 1000 &amp;&amp; abs(<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>) &lt; 1000 &amp;&amp; abs(<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>) &lt; 1000)
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 calibration[0] = fabs(715.0 / <a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>);
<a name="l00051"></a>00051 calibration[1] = fabs(715.0 / <a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>);
<a name="l00052"></a>00052 calibration[2] = fabs(715.0 / <a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>);
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="comment">// mark success</span>
<a name="l00055"></a>00055 success = 1;
<a name="l00056"></a>00056 }
<a name="l00018"></a>00018 memset(offset, 0, <span class="keyword">sizeof</span>(offset));
<a name="l00019"></a>00019
<a name="l00020"></a>00020 <span class="comment">// initialise orientation matrix</span>
<a name="l00021"></a>00021 orientation_matrix = ROTATION_NONE;
<a name="l00022"></a>00022 }
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="comment">// Public Methods //////////////////////////////////////////////////////////////</span>
<a name="l00025"></a><a class="code" href="class_a_p___compass___h_i_l.html#aefa72efcf8536c3696a25de69f1731c7">00025</a> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___compass___h_i_l.html#aefa72efcf8536c3696a25de69f1731c7">AP_Compass_HIL::init</a>(<span class="keywordtype">int</span> initialise_wire_lib)
<a name="l00026"></a>00026 {
<a name="l00027"></a>00027 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> currentTime = <a class="code" href="test_8cpp.html#a941a22cb7e0f6429fe40f91e83ead3d9">millis</a>(); <span class="comment">// record current time</span>
<a name="l00028"></a>00028 <span class="keywordtype">int</span> numAttempts = 0;
<a name="l00029"></a>00029 <span class="keywordtype">int</span> success = 0;
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="comment">// calibration initialisation</span>
<a name="l00032"></a>00032 calibration[0] = 1.0;
<a name="l00033"></a>00033 calibration[1] = 1.0;
<a name="l00034"></a>00034 calibration[2] = 1.0;
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keywordflow">while</span>( success == 0 &amp;&amp; numAttempts &lt; 5 )
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="comment">// record number of attempts at initialisation</span>
<a name="l00039"></a>00039 numAttempts++;
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="comment">// read values from the compass</span>
<a name="l00042"></a>00042 <a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">read</a>();
<a name="l00043"></a>00043 delay(10);
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// calibrate</span>
<a name="l00046"></a>00046 <span class="keywordflow">if</span>( abs(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>) &lt; 1000 &amp;&amp; abs(<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>) &lt; 1000 &amp;&amp; abs(<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>) &gt; 500 &amp;&amp; abs(<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>) &lt; 1000)
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 calibration[0] = fabs(715.0 / <a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>);
<a name="l00049"></a>00049 calibration[1] = fabs(715.0 / <a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>);
<a name="l00050"></a>00050 calibration[2] = fabs(715.0 / <a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>);
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="comment">// mark success</span>
<a name="l00053"></a>00053 success = 1;
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056 <span class="keywordflow">return</span>(success);
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058 <span class="keywordflow">return</span>(success);
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="comment">// Read Sensor data</span>
<a name="l00062"></a><a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">00062</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">AP_Compass_HIL::read</a>()
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="comment">// values set by setHIL function</span>
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="class_a_p___compass___h_i_l.html#a755d7409dedf3e903225b36fbf16e622">00067</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a755d7409dedf3e903225b36fbf16e622">AP_Compass_HIL::calculate</a>(<span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keywordtype">float</span> headX;
<a name="l00070"></a>00070 <span class="keywordtype">float</span> headY;
<a name="l00071"></a>00071 <span class="keywordtype">float</span> cos_roll;
<a name="l00072"></a>00072 <span class="keywordtype">float</span> sin_roll;
<a name="l00073"></a>00073 <span class="keywordtype">float</span> cos_pitch;
<a name="l00074"></a>00074 <span class="keywordtype">float</span> sin_pitch;
<a name="l00075"></a>00075 <a class="code" href="class_vector3.html">Vector3f</a> rotMagVec;
<a name="l00076"></a>00076
<a name="l00077"></a>00077 cos_roll = cos(roll); <span class="comment">// Optimizacion, se puede sacar esto de la matriz DCM?</span>
<a name="l00078"></a>00078 sin_roll = sin(roll);
<a name="l00079"></a>00079 cos_pitch = cos(pitch);
<a name="l00080"></a>00080 sin_pitch = sin(pitch);
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="comment">// rotate the magnetometer values depending upon orientation</span>
<a name="l00083"></a>00083 <span class="keywordflow">if</span>( orientation == 0 )
<a name="l00084"></a>00084 rotMagVec = <a class="code" href="vector3_8h.html#af345ad77ba5e240c7ab72b4b2077e754">Vector3f</a>(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>+offset[0],<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>+offset[1],<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>+offset[2]);
<a name="l00085"></a>00085 <span class="keywordflow">else</span>
<a name="l00086"></a>00086 rotMagVec = orientation_matrix*<a class="code" href="vector3_8h.html#af345ad77ba5e240c7ab72b4b2077e754">Vector3f</a>(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>+offset[0],<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>+offset[1],<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>+offset[2]);
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">// Tilt compensated Magnetic field X component:</span>
<a name="l00089"></a>00089 headX = rotMagVec.<a class="code" href="class_vector3.html#a1a0f7e168c71ca798099f0ba8a444244">x</a>*cos_pitch+rotMagVec.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a>*sin_roll*sin_pitch+rotMagVec.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a>*cos_roll*sin_pitch;
<a name="l00090"></a>00090 <span class="comment">// Tilt compensated Magnetic field Y component:</span>
<a name="l00091"></a>00091 headY = rotMagVec.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a>*cos_roll-rotMagVec.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a>*sin_roll;
<a name="l00092"></a>00092 <span class="comment">// Magnetic heading</span>
<a name="l00093"></a>00093 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> = atan2(-headY,headX);
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="comment">// Declination correction (if supplied)</span>
<a name="l00096"></a>00096 <span class="keywordflow">if</span>( declination != 0.0 )
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> = <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> + declination;
<a name="l00099"></a>00099 <span class="keywordflow">if</span> (<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> &gt; M_PI) <span class="comment">// Angle normalization (-180 deg, 180 deg)</span>
<a name="l00100"></a>00100 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> -= (2.0 * M_PI);
<a name="l00101"></a>00101 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> &lt; -M_PI)
<a name="l00102"></a>00102 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> += (2.0 * M_PI);
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// Optimization for external DCM use. Calculate normalized components</span>
<a name="l00106"></a>00106 <a class="code" href="class_compass.html#aafc7608bd711702f519d52afbc06dc7a">heading_x</a> = cos(<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a>);
<a name="l00107"></a>00107 <a class="code" href="class_compass.html#a2e1554fb76b067f36d011f59e7e8dd58">heading_y</a> = sin(<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a>);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109
<a name="l00110"></a><a class="code" href="class_a_p___compass___h_i_l.html#aae23c67a982d566e2f538509799ee277">00110</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#aae23c67a982d566e2f538509799ee277">AP_Compass_HIL::set_orientation</a>(<span class="keyword">const</span> <a class="code" href="class_matrix3.html">Matrix3f</a> &amp;rotation_matrix)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 orientation_matrix = rotation_matrix;
<a name="l00113"></a>00113 <span class="keywordflow">if</span>( orientation_matrix == <a class="code" href="_a_p___compass___h_m_c5843_8h.html#a4df2438502f1e4fcccf06122417ef115">ROTATION_NONE</a> )
<a name="l00114"></a>00114 orientation = 0;
<a name="l00115"></a>00115 <span class="keywordflow">else</span>
<a name="l00116"></a>00116 orientation = 1;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a><a class="code" href="class_a_p___compass___h_i_l.html#a1fb0fcecfa08549ea1ca9d0cf9f7eb14">00119</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a1fb0fcecfa08549ea1ca9d0cf9f7eb14">AP_Compass_HIL::set_offsets</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z)
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 offset[0] = x;
<a name="l00122"></a>00122 offset[1] = y;
<a name="l00123"></a>00123 offset[2] = z;
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00126"></a><a class="code" href="class_a_p___compass___h_i_l.html#a4b4d22637d14bd5585aa8d2d5e32ea43">00126</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a4b4d22637d14bd5585aa8d2d5e32ea43">AP_Compass_HIL::set_declination</a>(<span class="keywordtype">float</span> radians)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 declination = radians;
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="class_a_p___compass___h_i_l.html#a3a78f477d793be7840a2170de8f202d8">00131</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a3a78f477d793be7840a2170de8f202d8">AP_Compass_HIL::setHIL</a>(<span class="keywordtype">float</span> _mag_x, <span class="keywordtype">float</span> _mag_y, <span class="keywordtype">float</span> _mag_z)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <span class="comment">// TODO: map floats to raw</span>
<a name="l00134"></a>00134 <a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a> = _mag_x;
<a name="l00135"></a>00135 <a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a> = _mag_y;
<a name="l00136"></a>00136 <a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a> = _mag_z;
<a name="l00137"></a>00137 }
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="comment">// Read Sensor data</span>
<a name="l00060"></a><a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">00060</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#ac8d183edcd14cf5ee56895c498ebf02a">AP_Compass_HIL::read</a>()
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="comment">// values set by setHIL function</span>
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064
<a name="l00065"></a><a class="code" href="class_a_p___compass___h_i_l.html#a755d7409dedf3e903225b36fbf16e622">00065</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a755d7409dedf3e903225b36fbf16e622">AP_Compass_HIL::calculate</a>(<span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordtype">float</span> headX;
<a name="l00068"></a>00068 <span class="keywordtype">float</span> headY;
<a name="l00069"></a>00069 <span class="keywordtype">float</span> cos_roll;
<a name="l00070"></a>00070 <span class="keywordtype">float</span> sin_roll;
<a name="l00071"></a>00071 <span class="keywordtype">float</span> cos_pitch;
<a name="l00072"></a>00072 <span class="keywordtype">float</span> sin_pitch;
<a name="l00073"></a>00073 <a class="code" href="class_vector3.html">Vector3f</a> rotMagVec;
<a name="l00074"></a>00074
<a name="l00075"></a>00075 cos_roll = cos(roll); <span class="comment">// Optimizacion, se puede sacar esto de la matriz DCM?</span>
<a name="l00076"></a>00076 sin_roll = sin(roll);
<a name="l00077"></a>00077 cos_pitch = cos(pitch);
<a name="l00078"></a>00078 sin_pitch = sin(pitch);
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">// rotate the magnetometer values depending upon orientation</span>
<a name="l00081"></a>00081 <span class="keywordflow">if</span>( orientation == 0 )
<a name="l00082"></a>00082 rotMagVec = <a class="code" href="vector3_8h.html#af345ad77ba5e240c7ab72b4b2077e754">Vector3f</a>(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>+offset[0],<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>+offset[1],<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>+offset[2]);
<a name="l00083"></a>00083 <span class="keywordflow">else</span>
<a name="l00084"></a>00084 rotMagVec = orientation_matrix*<a class="code" href="vector3_8h.html#af345ad77ba5e240c7ab72b4b2077e754">Vector3f</a>(<a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>+offset[0],<a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>+offset[1],<a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>+offset[2]);
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment">// Tilt compensated Magnetic field X component:</span>
<a name="l00087"></a>00087 headX = rotMagVec.<a class="code" href="class_vector3.html#a1a0f7e168c71ca798099f0ba8a444244">x</a>*cos_pitch+rotMagVec.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a>*sin_roll*sin_pitch+rotMagVec.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a>*cos_roll*sin_pitch;
<a name="l00088"></a>00088 <span class="comment">// Tilt compensated Magnetic field Y component:</span>
<a name="l00089"></a>00089 headY = rotMagVec.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a>*cos_roll-rotMagVec.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a>*sin_roll;
<a name="l00090"></a>00090 <span class="comment">// Magnetic heading</span>
<a name="l00091"></a>00091 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> = atan2(-headY,headX);
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">// Declination correction (if supplied)</span>
<a name="l00094"></a>00094 <span class="keywordflow">if</span>( declination != 0.0 )
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> = <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> + declination;
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> &gt; M_PI) <span class="comment">// Angle normalization (-180 deg, 180 deg)</span>
<a name="l00098"></a>00098 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> -= (2.0 * M_PI);
<a name="l00099"></a>00099 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> &lt; -M_PI)
<a name="l00100"></a>00100 <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a> += (2.0 * M_PI);
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">// Optimization for external DCM use. Calculate normalized components</span>
<a name="l00104"></a>00104 <a class="code" href="class_compass.html#aafc7608bd711702f519d52afbc06dc7a">heading_x</a> = cos(<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a>);
<a name="l00105"></a>00105 <a class="code" href="class_compass.html#a2e1554fb76b067f36d011f59e7e8dd58">heading_y</a> = sin(<a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a>);
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00108"></a><a class="code" href="class_a_p___compass___h_i_l.html#aae23c67a982d566e2f538509799ee277">00108</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#aae23c67a982d566e2f538509799ee277">AP_Compass_HIL::set_orientation</a>(<span class="keyword">const</span> <a class="code" href="class_matrix3.html">Matrix3f</a> &amp;rotation_matrix)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 orientation_matrix = rotation_matrix;
<a name="l00111"></a>00111 <span class="keywordflow">if</span>( orientation_matrix == <a class="code" href="_a_p___compass___h_m_c5843_8h.html#a4df2438502f1e4fcccf06122417ef115">ROTATION_NONE</a> )
<a name="l00112"></a>00112 orientation = 0;
<a name="l00113"></a>00113 <span class="keywordflow">else</span>
<a name="l00114"></a>00114 orientation = 1;
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116
<a name="l00117"></a><a class="code" href="class_a_p___compass___h_i_l.html#a1fb0fcecfa08549ea1ca9d0cf9f7eb14">00117</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a1fb0fcecfa08549ea1ca9d0cf9f7eb14">AP_Compass_HIL::set_offsets</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 offset[0] = x;
<a name="l00120"></a>00120 offset[1] = y;
<a name="l00121"></a>00121 offset[2] = z;
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a><a class="code" href="class_a_p___compass___h_i_l.html#a4b4d22637d14bd5585aa8d2d5e32ea43">00124</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a4b4d22637d14bd5585aa8d2d5e32ea43">AP_Compass_HIL::set_declination</a>(<span class="keywordtype">float</span> radians)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 declination = radians;
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00129"></a><a class="code" href="class_a_p___compass___h_i_l.html#a3a78f477d793be7840a2170de8f202d8">00129</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___compass___h_i_l.html#a3a78f477d793be7840a2170de8f202d8">AP_Compass_HIL::setHIL</a>(<span class="keywordtype">float</span> _mag_x, <span class="keywordtype">float</span> _mag_y, <span class="keywordtype">float</span> _mag_z)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 <span class="comment">// TODO: map floats to raw</span>
<a name="l00132"></a>00132 <a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a> = _mag_x;
<a name="l00133"></a>00133 <a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a> = _mag_y;
<a name="l00134"></a>00134 <a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a> = _mag_z;
<a name="l00135"></a>00135 }
</pre></div></div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.h File Reference</h1> </div>
<h1>AP_Compass_HIL.h File Reference</h1> </div>
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<div class="contents">
<code>#include &lt;<a class="el" href="_compass_8h_source.html">Compass.h</a>&gt;</code><br/>
@ -39,16 +40,16 @@
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Include dependency graph for AP_Compass_HIL.h:</div>
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.h</h1> </div>
<h1>AP_Compass_HIL.h</h1> </div>
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<a href="_a_p___compass___h_i_l_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_Compass_HIL_H</span>

11
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<code>#include &lt;math.h&gt;</code><br/>
@ -40,9 +41,9 @@
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Include dependency graph for AP_Compass_HMC5843.cpp:</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HMC5843.cpp</h1> </div>
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<a href="_a_p___compass___h_m_c5843_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-</span>

15
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<div class="contents">
<code>#include &quot;<a class="el" href="_compass_8h_source.html">Compass.h</a>&quot;</code><br/>
@ -39,16 +40,16 @@
<div class="dynheader">
Include dependency graph for AP_Compass_HMC5843.h:</div>
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<div class="center"><img src="_a_p___compass___h_m_c5843_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___compass_2_a_p___compass___h_m_c5843_8h" alt=""/></div>
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<div class="center"><img src="_a_p___compass___h_m_c5843_8h__incl.png" border="0" usemap="#_a_p___compass___h_m_c5843_8h" alt=""/></div>
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<area shape="rect" id="node3" href="_compass_8h.html" title="Compass.h" alt="" coords="175,83,268,112"/><area shape="rect" id="node7" href="_a_p___math_8h.html" title="../AP_Math/AP_Math.h" alt="" coords="115,160,277,189"/><area shape="rect" id="node9" href="vector2_8h.html" title="vector2.h" alt="" coords="104,315,187,344"/><area shape="rect" id="node13" href="vector3_8h.html" title="vector3.h" alt="" coords="211,315,293,344"/><area shape="rect" id="node18" href="matrix3_8h.html" title="matrix3.h" alt="" coords="233,237,316,267"/></map>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_a_p___compass_8h.html" title="Catch&#45;all header that defines all supported compass classes." alt="" coords="101,160,539,189"/><area shape="rect" id="node14" href="_a_p___compass___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.h" alt="" coords="357,83,821,112"/><area shape="rect" id="node19" href="_a_p___compass___h_m_c5843_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HMC5843.cpp" alt="" coords="845,83,1365,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h" alt="" coords="239,237,641,267"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h" alt="" coords="13,315,389,344"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp" alt="" coords="413,315,832,344"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp" alt="" coords="5,392,397,421"/><area shape="rect" id="node17" href="_a_p___compass___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.cpp" alt="" coords="563,160,1040,189"/></map>
<div class="center"><img src="_a_p___compass___h_m_c5843_8h__dep__incl.png" border="0" usemap="#_a_p___compass___h_m_c5843_8hdep" alt=""/></div>
<map name="_a_p___compass___h_m_c5843_8hdep" id="_a_p___compass___h_m_c5843_8hdep">
<area shape="rect" id="node3" href="_a_p___compass_8h.html" title="Catch&#45;all header that defines all supported compass classes." alt="" coords="44,160,161,189"/><area shape="rect" id="node14" href="_a_p___compass___h_i_l_8h.html" title="AP_Compass_HIL.h" alt="" coords="140,83,284,112"/><area shape="rect" id="node19" href="_a_p___compass___h_m_c5843_8cpp.html" title="AP_Compass_HMC5843.cpp" alt="" coords="308,83,511,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="93,237,208,267"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="12,315,100,344"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="124,315,255,344"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="5,392,107,421"/><area shape="rect" id="node17" href="_a_p___compass___h_i_l_8cpp.html" title="AP_Compass_HIL.cpp" alt="" coords="185,160,345,189"/></map>
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<a href="_a_p___compass___h_m_c5843_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_Compass_HMC5843_H</span>

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<code>#include &lt;<a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>&gt;</code><br/>
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Include dependency graph for AP_DCM.cpp:</div>
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<title>ArduPilot Libraries: AP_DCM.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp</h1> </div>
<h1>AP_DCM.cpp</h1> </div>
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<a href="_a_p___d_c_m_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
@ -73,8 +74,8 @@
<a name="l00041"></a>00041 <span class="keywordtype">void</span>
<a name="l00042"></a><a class="code" href="class_a_p___d_c_m.html#a9188cdc31e905c85a5f14dcdb063720b">00042</a> <a class="code" href="class_a_p___d_c_m.html#a9188cdc31e905c85a5f14dcdb063720b">AP_DCM::update_DCM</a>(<span class="keywordtype">float</span> _G_Dt)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 _gyro_vector = _imu-&gt;<a class="code" href="class_a_p___i_m_u.html#ae3d7b3a78a8720c9a7ca2c85402c7638">get_gyro</a>(); <span class="comment">// Get current values for IMU sensors</span>
<a name="l00045"></a>00045 _accel_vector = _imu-&gt;<a class="code" href="class_a_p___i_m_u.html#a6e9be9f56658410ac972d66b8985de6b">get_accel</a>(); <span class="comment">// Get current values for IMU sensors</span>
<a name="l00044"></a>00044 _gyro_vector = _imu-&gt;<a class="code" href="class_i_m_u.html#aae81f4e2b32ec27d7c3fb1f6b74a177a">get_gyro</a>(); <span class="comment">// Get current values for IMU sensors</span>
<a name="l00045"></a>00045 _accel_vector = _imu-&gt;<a class="code" href="class_i_m_u.html#a8736c63185c19a8fadc86623fd4cd0c7">get_accel</a>(); <span class="comment">// Get current values for IMU sensors</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 matrix_update(_G_Dt); <span class="comment">// Integrate the DCM matrix</span>
<a name="l00048"></a>00048 normalize(); <span class="comment">// Normalize the DCM matrix</span>

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<code>#include &quot;<a class="el" href="_a_p___d_c_m___h_i_l_8h_source.html">AP_DCM_HIL.h</a>&quot;</code><br/>
@ -45,16 +46,16 @@
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Include dependency graph for AP_DCM.h:</div>
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h Source File</title>
<title>ArduPilot Libraries: AP_DCM.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h</h1> </div>
<h1>AP_DCM.h</h1> </div>
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<a href="_a_p___d_c_m_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_DCM_h</span>
@ -41,19 +42,19 @@
<a name="l00009"></a>00009
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;<a class="code" href="_fast_serial_8h.html">FastSerial.h</a>&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___math_8h.html">AP_Math.h</a>&gt;</span>
<a name="l00012"></a><a class="code" href="class_a_p___d_c_m.html#a479079725c0a9fc59ed87a802ffa14ed">00012</a> <span class="preprocessor">#include &lt;inttypes.h&gt;</span>
<a name="l00012"></a><a class="code" href="class_a_p___d_c_m.html#a0e33d3f4e5b628127fc58cbff7b5eb29">00012</a> <span class="preprocessor">#include &lt;inttypes.h&gt;</span>
<a name="l00013"></a>00013 <span class="preprocessor">#include &quot;<a class="code" href="_w_program_8h.html">WProgram.h</a>&quot;</span>
<a name="l00014"></a>00014 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___compass_8h.html" title="Catch-all header that defines all supported compass classes.">AP_Compass.h</a>&gt;</span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___a_d_c_8h.html">AP_ADC.h</a>&gt;</span>
<a name="l00016"></a>00016 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___g_p_s_8h.html" title="Catch-all header that defines all supported GPS classes.">AP_GPS.h</a>&gt;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___i_m_u_8h.html">AP_IMU.h</a>&gt;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___i_m_u_8h.html" title="Catch-all header that defines all supported IMU classes.">AP_IMU.h</a>&gt;</span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019
<a name="l00020"></a><a class="code" href="class_a_p___d_c_m.html">00020</a> <span class="keyword">class </span><a class="code" href="class_a_p___d_c_m.html">AP_DCM</a>
<a name="l00021"></a>00021 {
<a name="l00022"></a>00022 <span class="keyword">public</span>:
<a name="l00023"></a><a class="code" href="class_a_p___d_c_m.html#af6e7aafc6c3a5876eac31a26c37df1e8">00023</a> <span class="comment">// Constructors</span>
<a name="l00024"></a>00024 <a class="code" href="class_a_p___d_c_m.html#a479079725c0a9fc59ed87a802ffa14ed">AP_DCM</a>(<a class="code" href="class_a_p___i_m_u.html">AP_IMU</a> *imu, <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> *gps) :
<a name="l00023"></a><a class="code" href="class_a_p___d_c_m.html#ad0e3a59894face2e7bc3349f839db194">00023</a> <span class="comment">// Constructors</span>
<a name="l00024"></a>00024 <a class="code" href="class_a_p___d_c_m.html#a0e33d3f4e5b628127fc58cbff7b5eb29">AP_DCM</a>(<a class="code" href="class_i_m_u.html">IMU</a> *imu, <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> *gps) :
<a name="l00025"></a>00025 _imu(imu),
<a name="l00026"></a>00026 _gps(gps),
<a name="l00027"></a>00027 _compass(0),
@ -64,7 +65,7 @@
<a name="l00032"></a>00032 _course_over_ground_y(1)
<a name="l00033"></a>00033 {}
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="class_a_p___d_c_m.html#a26e4515d100903df7d801891b75cdfc2">00035</a> <a class="code" href="class_a_p___d_c_m.html#a479079725c0a9fc59ed87a802ffa14ed">AP_DCM</a>(<a class="code" href="class_a_p___i_m_u.html">AP_IMU</a> *imu, <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> *gps, <a class="code" href="class_compass.html">Compass</a> *withCompass) :
<a name="l00035"></a><a class="code" href="class_a_p___d_c_m.html#a26e4515d100903df7d801891b75cdfc2">00035</a> <a class="code" href="class_a_p___d_c_m.html#a0e33d3f4e5b628127fc58cbff7b5eb29">AP_DCM</a>(<a class="code" href="class_i_m_u.html">IMU</a> *imu, <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> *gps, <a class="code" href="class_compass.html">Compass</a> *withCompass) :
<a name="l00036"></a><a class="code" href="class_a_p___d_c_m.html#a2c03c18b2b80fc5c9cbbd0f3205e0459">00036</a> _imu(imu),
<a name="l00037"></a><a class="code" href="class_a_p___d_c_m.html#a8472ebe5394725ce4231cec96d452988">00037</a> _gps(gps),
<a name="l00038"></a><a class="code" href="class_a_p___d_c_m.html#ae6866e8b88a8bf3bda59037cc95c2061">00038</a> _compass(withCompass),
@ -115,7 +116,7 @@
<a name="l00083"></a>00083 <span class="comment">// members</span>
<a name="l00084"></a>00084 <a class="code" href="class_compass.html">Compass</a> * _compass;
<a name="l00085"></a>00085 <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a> * _gps;
<a name="l00086"></a>00086 <a class="code" href="class_a_p___i_m_u.html">AP_IMU</a> * _imu;
<a name="l00086"></a>00086 <a class="code" href="class_i_m_u.html">IMU</a> * _imu;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <a class="code" href="class_matrix3.html">Matrix3f</a> _dcm_matrix;
<a name="l00089"></a>00089

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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp File Reference</h1> </div>
<h1>AP_DCM_HIL.cpp File Reference</h1> </div>
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<code>#include &lt;<a class="el" href="_a_p___d_c_m___h_i_l_8h_source.html">AP_DCM_HIL.h</a>&gt;</code><br/>
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<title>ArduPilot Libraries: AP_DCM_HIL.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp</h1> </div>
<h1>AP_DCM_HIL.cpp</h1> </div>
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<a href="_a_p___d_c_m___h_i_l_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>

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<title>ArduPilot Libraries: AP_DCM_HIL.h File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h File Reference</h1> </div>
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<code>#include &lt;<a class="el" href="_fast_serial_8h_source.html">FastSerial.h</a>&gt;</code><br/>
@ -44,16 +45,16 @@
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Include dependency graph for AP_DCM_HIL.h:</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h</h1> </div>
<h1>AP_DCM_HIL.h</h1> </div>
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<a href="_a_p___d_c_m___h_i_l_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_DCM_HIL_H</span>
@ -40,7 +41,7 @@
<a name="l00008"></a>00008 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___compass_8h.html" title="Catch-all header that defines all supported compass classes.">AP_Compass.h</a>&gt;</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___a_d_c_8h.html">AP_ADC.h</a>&gt;</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___g_p_s_8h.html" title="Catch-all header that defines all supported GPS classes.">AP_GPS.h</a>&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___i_m_u_8h.html">AP_IMU.h</a>&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___i_m_u_8h.html" title="Catch-all header that defines all supported IMU classes.">AP_IMU.h</a>&gt;</span>
<a name="l00012"></a>00012
<a name="l00013"></a>00013
<a name="l00014"></a><a class="code" href="class_a_p___d_c_m___h_i_l.html">00014</a> <span class="keyword">class </span><a class="code" href="class_a_p___d_c_m___h_i_l.html">AP_DCM_HIL</a>

11
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@ -2,7 +2,7 @@
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.cpp File Reference</title>
<title>ArduPilot Libraries: AP_EEPROMB.cpp File Reference</title>
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@ -14,6 +14,7 @@
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@ -28,7 +29,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.cpp File Reference</h1> </div>
<h1>AP_EEPROMB.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;avr/eeprom.h&gt;</code><br/>
@ -36,9 +37,9 @@
<div class="dynheader">
Include dependency graph for AP_EEPROMB.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___e_e_p_r_o_m_b_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___e_e_p_r_o_m_b_2_a_p___e_e_p_r_o_m_b_8cpp" alt=""/></div>
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<area shape="rect" id="node5" href="_a_p___e_e_p_r_o_m_b_8h.html" title="AP_EEPROMB manager." alt="" coords="243,83,363,112"/><area shape="rect" id="node7" href="_w_program_8h.html" title="WProgram.h" alt="" coords="253,160,352,189"/></map>
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5
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@ -2,7 +2,7 @@
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.cpp Source File</title>
<title>ArduPilot Libraries: AP_EEPROMB.cpp Source File</title>
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@ -14,6 +14,7 @@
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.cpp</h1> </div>
<h1>AP_EEPROMB.cpp</h1> </div>
</div>
<div class="contents">
<a href="_a_p___e_e_p_r_o_m_b_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>

17
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.h File Reference</title>
<title>ArduPilot Libraries: AP_EEPROMB.h File Reference</title>
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@ -14,6 +14,7 @@
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@ -30,7 +31,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.h File Reference</h1> </div>
<h1>AP_EEPROMB.h File Reference</h1> </div>
</div>
<div class="contents">
@ -40,16 +41,16 @@
<div class="dynheader">
Include dependency graph for AP_EEPROMB.h:</div>
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<div class="center"><img src="_a_p___e_e_p_r_o_m_b_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___e_e_p_r_o_m_b_2_a_p___e_e_p_r_o_m_b_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.h Source File</title>
<title>ArduPilot Libraries: AP_EEPROMB.h Source File</title>
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@ -14,6 +14,7 @@
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEPROMB/AP_EEPROMB.h</h1> </div>
<h1>AP_EEPROMB.h</h1> </div>
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<div class="contents">
<a href="_a_p___e_e_p_r_o_m_b_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

11
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@ -2,7 +2,7 @@
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.cpp File Reference</title>
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@ -30,16 +31,16 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.cpp File Reference</h1> </div>
<h1>AP_EEProm.cpp File Reference</h1> </div>
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<div class="contents">
<code>#include &lt;<a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>&gt;</code><br/>
<div class="dynheader">
Include dependency graph for AP_EEProm.cpp:</div>
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.cpp Source File</title>
<title>ArduPilot Libraries: AP_EEProm.cpp Source File</title>
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@ -14,6 +14,7 @@
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.cpp</h1> </div>
<h1>AP_EEProm.cpp</h1> </div>
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<div class="contents">
<a href="_a_p___e_e_prom_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
@ -49,17 +50,31 @@
<a name="l00017"></a>00017 <span class="comment"> */</span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___e_e_prom_8h.html">AP_EEProm.h</a>&gt;</span>
<a name="l00020"></a>00020
<a name="l00021"></a><a class="code" href="class_a_p___e_e_prom_registry.html#a7e0faa494537b90fdb67280bf1963cec">00021</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a7e0faa494537b90fdb67280bf1963cec" title="Add an entry to the registry.">AP_EEPromRegistry::add</a>(<a class="code" href="class_a_p___e_e_prom_entry.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntry</a> * entry, uint16_t &amp; <span class="keywordtype">id</span>, uint16_t &amp; address, <span class="keywordtype">size_t</span> size)
<a name="l00022"></a>00022 {
<a name="l00023"></a>00023 <span class="keywordflow">if</span> (_newAddress + size &gt; _maxSize) <span class="keywordflow">return</span>;
<a name="l00024"></a>00024 address = _newAddress;
<a name="l00025"></a>00025 _newAddress += size;
<a name="l00026"></a>00026 <span class="keywordtype">id</span> = _newId++;
<a name="l00027"></a>00027 <a class="code" href="class_vector.html#ad58756ac50551a81d7c2b0d8ae075f76">push_back</a>(entry);
<a name="l00028"></a>00028 }
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="keyword">extern</span> <a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> <a class="code" href="_a_p___e_e_prom_8cpp.html#ab9f343c688a095f2819577da1f5c8269">eepromRegistry</a>(1024);
<a name="l00020"></a><a class="code" href="class_a_p___e_e_prom_registry.html#a022d84aae5c08e2a99f5a87c13bc6702">00020</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a022d84aae5c08e2a99f5a87c13bc6702" title="Print on desired serial port.">AP_EEPromRegistry::print</a>(<a class="code" href="class_better_stream.html">BetterStream</a> &amp; stream)
<a name="l00021"></a>00021 {
<a name="l00022"></a>00022 stream.<a class="code" href="class_better_stream.html#aa735777635173dca53f4d9a4f6a1e0b8">printf</a>(<span class="stringliteral">&quot;\nEEPROM Registry\n&quot;</span>);
<a name="l00023"></a>00023 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="class_vector.html#a63d372a3caf5492712708ca15da7ac1c">getSize</a>();i++)
<a name="l00024"></a>00024 {
<a name="l00025"></a>00025 stream.<a class="code" href="class_better_stream.html#aa735777635173dca53f4d9a4f6a1e0b8">printf</a>(<span class="stringliteral">&quot;id:\t%u\t%s\t%s\tval:\t%10.4f\taddr:\t%u\t\n&quot;</span>,
<a name="l00026"></a>00026 (*<span class="keyword">this</span>)[i]-&gt;getEntryId(),
<a name="l00027"></a>00027 (*<span class="keyword">this</span>)[i]-&gt;getEntryParentName(),
<a name="l00028"></a>00028 (*<span class="keyword">this</span>)[i]-&gt;getEntryName(),
<a name="l00029"></a>00029 (*<span class="keyword">this</span>)[i]-&gt;getEntry(),
<a name="l00030"></a>00030 (*<span class="keyword">this</span>)[i]-&gt;getEntryAddress());
<a name="l00031"></a>00031 }
<a name="l00032"></a>00032 }
<a name="l00033"></a>00033
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="class_a_p___e_e_prom_registry.html#a3085f6bb3cd5c2ec3d40fecb13632845">00035</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a3085f6bb3cd5c2ec3d40fecb13632845" title="Add an entry to the registry.">AP_EEPromRegistry::add</a>(<a class="code" href="class_a_p___e_e_prom_entry_i.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntryI</a> * entry, uint16_t &amp; <span class="keywordtype">id</span>, uint16_t &amp; address, <span class="keywordtype">size_t</span> size)
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keywordflow">if</span> (_newAddress + size &gt; _maxSize) <span class="keywordflow">return</span>;
<a name="l00038"></a>00038 address = _newAddress;
<a name="l00039"></a>00039 _newAddress += size;
<a name="l00040"></a>00040 <span class="keywordtype">id</span> = _newId++;
<a name="l00041"></a>00041 <a class="code" href="class_vector.html#ad58756ac50551a81d7c2b0d8ae075f76">push_back</a>(entry);
<a name="l00042"></a>00042 }
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">extern</span> <a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> <a class="code" href="_a_p___e_e_prom_8cpp.html#ab9f343c688a095f2819577da1f5c8269">eepromRegistry</a>(1024);
</pre></div></div>
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libraries/doc/html/_a_p___e_e_prom_8h.html
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<title>ArduPilot Libraries: AP_EEProm.h File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.h File Reference</h1> </div>
<h1>AP_EEProm.h File Reference</h1> </div>
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<div class="contents">
<code>#include &lt;<a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>&gt;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___vector_8h_source.html">AP_Vector.h</a>&gt;</code><br/>
<code>#include &lt;avr/eeprom.h&gt;</code><br/>
<code>#include &lt;avr/pgmspace.h&gt;</code><br/>
<code>#include &lt;<a class="el" href="_better_stream_8h_source.html">BetterStream.h</a>&gt;</code><br/>
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<table class="memberdecls">
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___e_e_prom_entry.html">AP_EEPromEntry</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The interface for data entries in the eeprom registry. <a href="class_a_p___e_e_prom_entry.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___e_e_prom_entry_i.html">AP_EEPromEntryI</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The interface for data entries in the eeprom registry. <a href="class_a_p___e_e_prom_entry_i.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___e_e_prom_registry.html">AP_EEPromRegistry</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">The main EEProm Registry class. <a href="class_a_p___e_e_prom_registry.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt; type &gt;</a></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; float &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#a0d0d0cad20c7b73603be5f142fb38080">AP_EEPROM_Float</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; int8_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#a154b1f7e5b76606083ef0d01cd9fe55b">AP_EEPROM_Int8</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; uint8_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#a18b11beb7551ba693aa020423edb3923">AP_EEPROM_Uint8</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; int16_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#ae8098e90c74a8434a2969f42099b2e73">AP_EEPROM_Int16</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; uint16_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#aa23279a53fa9e42e6beb24da77258e8f">AP_EEPROM_Uint16</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; int32_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#a3b5a6138f526b51cb099decc2f43d46a">AP_EEPROM_Int32</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; uint32_t &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#affc9d2cc12c9bb7ff00de0e5c2526c6e">AP_EEPROM_Unt32</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt; bool &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#a5ae48094725dd607362f165e72aef23e">AP_EEPROM_Bool</a></td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_a_p___e_e_prom_registry.html">AP_EEPromRegistry</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___e_e_prom_8h.html#ace5829ad43d9564a20756ac7ab33aebc">eepromRegistry</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Global eepromRegistry declaration. <a href="#ace5829ad43d9564a20756ac7ab33aebc"></a><br/></td></tr>
</table>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="a5ae48094725dd607362f165e72aef23e"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Bool" ref="a5ae48094725dd607362f165e72aef23e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;bool&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Bool</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00118">118</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0d0d0cad20c7b73603be5f142fb38080"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Float" ref="a0d0d0cad20c7b73603be5f142fb38080" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;float&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Float</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00111">111</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae8098e90c74a8434a2969f42099b2e73"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Int16" ref="ae8098e90c74a8434a2969f42099b2e73" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;int16_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int16</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00114">114</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3b5a6138f526b51cb099decc2f43d46a"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Int32" ref="a3b5a6138f526b51cb099decc2f43d46a" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;int32_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int32</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00116">116</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="a154b1f7e5b76606083ef0d01cd9fe55b"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Int8" ref="a154b1f7e5b76606083ef0d01cd9fe55b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;int8_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int8</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00112">112</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa23279a53fa9e42e6beb24da77258e8f"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Uint16" ref="aa23279a53fa9e42e6beb24da77258e8f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;uint16_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Uint16</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00115">115</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="a18b11beb7551ba693aa020423edb3923"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Uint8" ref="a18b11beb7551ba693aa020423edb3923" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;uint8_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Uint8</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00113">113</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<a class="anchor" id="affc9d2cc12c9bb7ff00de0e5c2526c6e"></a><!-- doxytag: member="AP_EEProm.h::AP_EEPROM_Unt32" ref="affc9d2cc12c9bb7ff00de0e5c2526c6e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a>&lt;uint32_t&gt; <a class="el" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Unt32</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___e_e_prom_8h_source.html#l00117">117</a> of file <a class="el" href="_a_p___e_e_prom_8h_source.html">AP_EEProm.h</a>.</p>
</div>
</div>
<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="ace5829ad43d9564a20756ac7ab33aebc"></a><!-- doxytag: member="AP_EEProm.h::eepromRegistry" ref="ace5829ad43d9564a20756ac7ab33aebc" args="" -->
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.h Source File</title>
<title>ArduPilot Libraries: AP_EEProm.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_EEProm/AP_EEProm.h</h1> </div>
<h1>AP_EEProm.h</h1> </div>
</div>
<div class="contents">
<a href="_a_p___e_e_prom_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_EEProm_H</span>
@ -55,64 +56,80 @@
<a name="l00023"></a>00023 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___vector_8h.html">AP_Vector.h</a>&gt;</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include &lt;avr/eeprom.h&gt;</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;avr/pgmspace.h&gt;</span>
<a name="l00026"></a>00026
<a name="l00028"></a><a class="code" href="class_a_p___e_e_prom_entry.html">00028</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_entry.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntry</a>
<a name="l00029"></a>00029 {
<a name="l00030"></a>00030 <span class="keyword">public</span>:
<a name="l00034"></a>00034 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_entry.html#a6c51b273b301f47d948ad1855757d3e0">setEntry</a>(<span class="keywordtype">float</span> val) = 0;
<a name="l00035"></a>00035
<a name="l00039"></a>00039 <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="class_a_p___e_e_prom_entry.html#a722469814ddd7cc9cc3a2d4d46993445">getEntry</a>() = 0;
<a name="l00040"></a>00040
<a name="l00042"></a>00042 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_entry.html#a53c9ed1657ac5267c6ddff1dcb8a39ce" title="Pure virtual function for getting entry name.">getEntryName</a>() = 0;
<a name="l00043"></a>00043
<a name="l00045"></a>00045 <span class="keyword">virtual</span> uint16_t <a class="code" href="class_a_p___e_e_prom_entry.html#a1c57da1a313c9006761547e222aad107" title="Get the id of the variable.">getEntryId</a>() = 0;
<a name="l00046"></a>00046
<a name="l00048"></a>00048 <span class="keyword">virtual</span> uint16_t <a class="code" href="class_a_p___e_e_prom_entry.html#a96ac5c98cbdf576746000a003f6a9a7b" title="Get the address of the variable.">getEntryAddress</a>() = 0;
<a name="l00049"></a>00049 };
<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;<a class="code" href="_better_stream_8h.html">BetterStream.h</a>&gt;</span>
<a name="l00027"></a>00027
<a name="l00029"></a><a class="code" href="class_a_p___e_e_prom_entry_i.html">00029</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_entry_i.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntryI</a>
<a name="l00030"></a>00030 {
<a name="l00031"></a>00031 <span class="keyword">public</span>:
<a name="l00035"></a>00035 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_entry_i.html#a2332d2003572df70c939d6a38e5a2b59">setEntry</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp; val) = 0;
<a name="l00036"></a>00036
<a name="l00040"></a>00040 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="class_a_p___e_e_prom_entry_i.html#ab4c26ba698e724285eda2c579869e704">getEntry</a>() = 0;
<a name="l00041"></a>00041
<a name="l00043"></a>00043 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_entry_i.html#a28cdd9d0b0301c4e5130f4578367add8" title="Pure virtual function for getting entry name.">getEntryName</a>() = 0;
<a name="l00044"></a>00044
<a name="l00046"></a>00046 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_entry_i.html#a94b21fed51d071e079f89eca9dde6093" title="Pure virtual function for getting entry parent name.">getEntryParentName</a>() = 0;
<a name="l00047"></a>00047
<a name="l00049"></a>00049 <span class="keyword">virtual</span> <span class="keyword">const</span> uint16_t &amp; <a class="code" href="class_a_p___e_e_prom_entry_i.html#a46f615ceaa6c4f2ed6bc30239213d350" title="Get the id of the variable.">getEntryId</a>() = 0;
<a name="l00050"></a>00050
<a name="l00052"></a><a class="code" href="class_a_p___e_e_prom_registry.html">00052</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> : <span class="keyword">public</span> <a class="code" href="class_vector.html">Vector</a>&lt;AP_EEPromEntry *&gt;
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="keyword">public</span>:
<a name="l00055"></a>00055
<a name="l00057"></a><a class="code" href="class_a_p___e_e_prom_registry.html#af14f86b2ebd197b4d8631bf13b1405dd">00057</a> <a class="code" href="class_a_p___e_e_prom_registry.html#af14f86b2ebd197b4d8631bf13b1405dd" title="Default constructor.">AP_EEPromRegistry</a>(uint16_t maxSize) :
<a name="l00058"></a>00058 _newAddress(0), _newId(0), _maxSize(maxSize)
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061
<a name="l00063"></a>00063 <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a7e0faa494537b90fdb67280bf1963cec" title="Add an entry to the registry.">add</a>(<a class="code" href="class_a_p___e_e_prom_entry.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntry</a> * entry, uint16_t &amp; <span class="keywordtype">id</span>, uint16_t &amp; address, <span class="keywordtype">size_t</span> size);
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="keyword">private</span>:
<a name="l00066"></a>00066 uint16_t _newAddress;
<a name="l00067"></a>00067 uint16_t _newId;
<a name="l00068"></a>00068 uint16_t _maxSize;
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00072"></a>00072 <span class="keyword">extern</span> <a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> <a class="code" href="_a_p___e_e_prom_8cpp.html#ab9f343c688a095f2819577da1f5c8269">eepromRegistry</a>;
<a name="l00073"></a>00073
<a name="l00077"></a>00077 <span class="keyword">template</span> &lt;<span class="keyword">class</span> type&gt;
<a name="l00078"></a><a class="code" href="class_a_p___e_e_prom_var.html">00078</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a> : <span class="keyword">public</span> <a class="code" href="class_a_p___e_e_prom_entry.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntry</a>, <span class="keyword">public</span> <a class="code" href="class_a_p___var.html">AP_Var</a>&lt;type&gt;
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keyword">public</span>:
<a name="l00082"></a><a class="code" href="class_a_p___e_e_prom_var.html#a9717bcdb3d54a67a4f1a252a7940ac07">00082</a> <a class="code" href="class_a_p___e_e_prom_var.html#a9717bcdb3d54a67a4f1a252a7940ac07" title="The default constrcutor.">AP_EEPromVar</a>(type data = 0, <span class="keyword">const</span> <span class="keywordtype">char</span> * name = <span class="stringliteral">&quot;&quot;</span>, <span class="keywordtype">bool</span> sync=<span class="keyword">false</span>) :
<a name="l00083"></a>00083 <a class="code" href="class_a_p___var.html">AP_Var</a>&lt;type&gt;(data,name,sync)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 eepromRegistry.<a class="code" href="class_a_p___e_e_prom_registry.html#a7e0faa494537b90fdb67280bf1963cec" title="Add an entry to the registry.">add</a>(<span class="keyword">this</span>,_id,_address,<span class="keyword">sizeof</span>(type));
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00088"></a><a class="code" href="class_a_p___e_e_prom_var.html#a8e5973cdc766f532b632926f8df6ebea">00088</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_var.html#a8e5973cdc766f532b632926f8df6ebea">setEntry</a>(<span class="keywordtype">float</span> val) { this-&gt;<a class="code" href="class_a_p___var.html#a7020d3d4f67e959ebf73268c3da5002a">setAsFloat</a>(val); }
<a name="l00089"></a><a class="code" href="class_a_p___e_e_prom_var.html#a338b7fbb43e52050585490b82a4525e1">00089</a> <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="class_a_p___e_e_prom_var.html#a338b7fbb43e52050585490b82a4525e1">getEntry</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="class_a_p___var.html#a1677d6dcfb4ea5d6780633b60c94419d">getAsFloat</a>(); }
<a name="l00090"></a><a class="code" href="class_a_p___e_e_prom_var.html#aaed7e0df09242c4f1d04f00371ce4588">00090</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_var.html#aaed7e0df09242c4f1d04f00371ce4588">getEntryName</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="class_a_p___var.html#aedd42dd2270968c5f834d851d7eee0dd">getName</a>(); }
<a name="l00091"></a>00091
<a name="l00093"></a><a class="code" href="class_a_p___e_e_prom_var.html#a9469b5951e2f1bb3759671100e9be625">00093</a> <span class="keyword">virtual</span> uint16_t <a class="code" href="class_a_p___e_e_prom_var.html#a9469b5951e2f1bb3759671100e9be625" title="Get the id of the variable.">getEntryId</a>() { <span class="keywordflow">return</span> _id; }
<a name="l00052"></a>00052 <span class="keyword">virtual</span> <span class="keyword">const</span> uint16_t &amp; <a class="code" href="class_a_p___e_e_prom_entry_i.html#a517ccf3764b745512ae4ea5906102159" title="Get the address of the variable.">getEntryAddress</a>() = 0;
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00056"></a><a class="code" href="class_a_p___e_e_prom_registry.html">00056</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> : <span class="keyword">public</span> <a class="code" href="class_vector.html">Vector</a>&lt;AP_EEPromEntryI *&gt;
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">public</span>:
<a name="l00059"></a>00059
<a name="l00061"></a><a class="code" href="class_a_p___e_e_prom_registry.html#af14f86b2ebd197b4d8631bf13b1405dd">00061</a> <a class="code" href="class_a_p___e_e_prom_registry.html#af14f86b2ebd197b4d8631bf13b1405dd" title="Default constructor.">AP_EEPromRegistry</a>(uint16_t maxSize) :
<a name="l00062"></a>00062 _newAddress(0), _newId(0), _maxSize(maxSize)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065
<a name="l00067"></a>00067 <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a3085f6bb3cd5c2ec3d40fecb13632845" title="Add an entry to the registry.">add</a>(<a class="code" href="class_a_p___e_e_prom_entry_i.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntryI</a> * entry, uint16_t &amp; <span class="keywordtype">id</span>, uint16_t &amp; address, <span class="keywordtype">size_t</span> size);
<a name="l00068"></a>00068
<a name="l00070"></a>00070 <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_registry.html#a022d84aae5c08e2a99f5a87c13bc6702" title="Print on desired serial port.">print</a>(<a class="code" href="class_better_stream.html">BetterStream</a> &amp; stream);
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keyword">private</span>:
<a name="l00073"></a>00073 uint16_t _newAddress;
<a name="l00074"></a>00074 uint16_t _newId;
<a name="l00075"></a>00075 uint16_t _maxSize;
<a name="l00076"></a>00076 };
<a name="l00077"></a>00077
<a name="l00079"></a>00079 <span class="keyword">extern</span> <a class="code" href="class_a_p___e_e_prom_registry.html" title="The main EEProm Registry class.">AP_EEPromRegistry</a> <a class="code" href="_a_p___e_e_prom_8cpp.html#ab9f343c688a095f2819577da1f5c8269">eepromRegistry</a>;
<a name="l00080"></a>00080
<a name="l00084"></a>00084 <span class="keyword">template</span> &lt;<span class="keyword">class</span> type&gt;
<a name="l00085"></a><a class="code" href="class_a_p___e_e_prom_var.html">00085</a> <span class="keyword">class </span><a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar</a> : <span class="keyword">public</span> <a class="code" href="class_a_p___e_e_prom_entry_i.html" title="The interface for data entries in the eeprom registry.">AP_EEPromEntryI</a>, <span class="keyword">public</span> <a class="code" href="class_a_p___var.html">AP_Var</a>&lt;type&gt;
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <span class="keyword">public</span>:
<a name="l00089"></a><a class="code" href="class_a_p___e_e_prom_var.html#a91a9017701b772d8aa42bdca3a7ead9f">00089</a> <a class="code" href="class_a_p___e_e_prom_var.html#a91a9017701b772d8aa42bdca3a7ead9f" title="The default constrcutor.">AP_EEPromVar</a>(type data = 0, <span class="keyword">const</span> <span class="keywordtype">char</span> * name = <span class="stringliteral">&quot;&quot;</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> * parentName = <span class="stringliteral">&quot;&quot;</span>, <span class="keywordtype">bool</span> sync=<span class="keyword">false</span>) :
<a name="l00090"></a>00090 <a class="code" href="class_a_p___var.html">AP_Var</a>&lt;type&gt;(data,name,parentName,sync)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 eepromRegistry.<a class="code" href="class_a_p___e_e_prom_registry.html#a3085f6bb3cd5c2ec3d40fecb13632845" title="Add an entry to the registry.">add</a>(<span class="keyword">this</span>,_id,_address,<span class="keyword">sizeof</span>(type));
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00096"></a><a class="code" href="class_a_p___e_e_prom_var.html#ac450ac8c8ce9fbd0b58224d02c2e65a6">00096</a> <span class="keyword">virtual</span> uint16_t <a class="code" href="class_a_p___e_e_prom_var.html#ac450ac8c8ce9fbd0b58224d02c2e65a6" title="Get the address of the variable.">getEntryAddress</a>() { <span class="keywordflow">return</span> _address; }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keyword">private</span>:
<a name="l00099"></a>00099 uint16_t _id;
<a name="l00100"></a>00100 uint16_t _address;
<a name="l00101"></a>00101 };
<a name="l00095"></a><a class="code" href="class_a_p___e_e_prom_var.html#a0aec2967e8ff2eac215e332604bcc55e">00095</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___e_e_prom_var.html#a0aec2967e8ff2eac215e332604bcc55e">setEntry</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp; val) { this-&gt;<a class="code" href="class_a_p___var.html#ae67a45d5b0ab1b2156e67635d39574ed" title="Set the variable value as a float.">setF</a>(val); }
<a name="l00096"></a><a class="code" href="class_a_p___e_e_prom_var.html#ac9cbbb48da0c6aa8fa9afb617c36d246">00096</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="class_a_p___e_e_prom_var.html#ac9cbbb48da0c6aa8fa9afb617c36d246">getEntry</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="class_a_p___var.html#adcc758d2c9fde9cadf7503ce39d9ed8e" title="Get the variable as a float.">getF</a>(); }
<a name="l00097"></a><a class="code" href="class_a_p___e_e_prom_var.html#aaed7e0df09242c4f1d04f00371ce4588">00097</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_var.html#aaed7e0df09242c4f1d04f00371ce4588">getEntryName</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="class_a_p___var.html#a90ee0ac1b5c782c90573bb6ab80e6e99" title="Get the name. This is useful for ground stations.">getName</a>(); }
<a name="l00098"></a><a class="code" href="class_a_p___e_e_prom_var.html#a74bc14d56744cecea370ad241daeeb12">00098</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span> * <a class="code" href="class_a_p___e_e_prom_var.html#a74bc14d56744cecea370ad241daeeb12">getEntryParentName</a>() { <span class="keywordflow">return</span> this-&gt;<a class="code" href="class_a_p___var.html#a1a0a5e721b352ffd92bf59edadfed130" title="Get the parent name. This is also useful for ground stations.">getParentName</a>(); }
<a name="l00099"></a>00099
<a name="l00101"></a><a class="code" href="class_a_p___e_e_prom_var.html#a1fe97ba68a3b80fc40891353e6ed85bf">00101</a> <span class="keyword">virtual</span> <span class="keyword">const</span> uint16_t &amp; <a class="code" href="class_a_p___e_e_prom_var.html#a1fe97ba68a3b80fc40891353e6ed85bf" title="Get the id of the variable.">getEntryId</a>() { <span class="keywordflow">return</span> _id; }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="preprocessor">#endif</span>
<a name="l00104"></a><a class="code" href="class_a_p___e_e_prom_var.html#a9362edcb0c46cdaa04bf06f04ab274b5">00104</a> <span class="keyword">virtual</span> <span class="keyword">const</span> uint16_t &amp; <a class="code" href="class_a_p___e_e_prom_var.html#a9362edcb0c46cdaa04bf06f04ab274b5" title="Get the address of the variable.">getEntryAddress</a>() { <span class="keywordflow">return</span> _address; }
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="keyword">private</span>:
<a name="l00107"></a>00107 uint16_t _id;
<a name="l00108"></a>00108 uint16_t _address;
<a name="l00109"></a>00109 };
<a name="l00110"></a>00110
<a name="l00111"></a><a class="code" href="_a_p___e_e_prom_8h.html#a0d0d0cad20c7b73603be5f142fb38080">00111</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;float&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Float</a>;
<a name="l00112"></a><a class="code" href="_a_p___e_e_prom_8h.html#a154b1f7e5b76606083ef0d01cd9fe55b">00112</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;int8_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int8</a>;
<a name="l00113"></a><a class="code" href="_a_p___e_e_prom_8h.html#a18b11beb7551ba693aa020423edb3923">00113</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;uint8_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Uint8</a>;
<a name="l00114"></a><a class="code" href="_a_p___e_e_prom_8h.html#ae8098e90c74a8434a2969f42099b2e73">00114</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;int16_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int16</a>;
<a name="l00115"></a><a class="code" href="_a_p___e_e_prom_8h.html#aa23279a53fa9e42e6beb24da77258e8f">00115</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;uint16_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Uint16</a>;
<a name="l00116"></a><a class="code" href="_a_p___e_e_prom_8h.html#a3b5a6138f526b51cb099decc2f43d46a">00116</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;int32_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Int32</a>;
<a name="l00117"></a><a class="code" href="_a_p___e_e_prom_8h.html#affc9d2cc12c9bb7ff00de0e5c2526c6e">00117</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;uint32_t&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Unt32</a>;
<a name="l00118"></a><a class="code" href="_a_p___e_e_prom_8h.html#a5ae48094725dd607362f165e72aef23e">00118</a> <span class="keyword">typedef</span> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPromVar&lt;bool&gt;</a> <a class="code" href="class_a_p___e_e_prom_var.html">AP_EEPROM_Bool</a>;
<a name="l00119"></a>00119
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="preprocessor">#endif</span>
</pre></div></div>
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<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS.h File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
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@ -14,6 +14,7 @@
<div class="tabs">
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -28,7 +29,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS.h File Reference</h1> </div>
<h1>AP_GPS.h File Reference</h1> </div>
</div>
<div class="contents">
@ -43,19 +44,20 @@
<code>#include &quot;<a class="el" href="_a_p___g_p_s___none_8h_source.html">AP_GPS_None.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___g_p_s___auto_8h_source.html">AP_GPS_Auto.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___g_p_s___h_i_l_8h_source.html">AP_GPS_HIL.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___g_p_s___shim_8h_source.html">AP_GPS_Shim.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_GPS.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___g_p_s_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s_8h" alt=""/></div>
<map name="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s_8h" id="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s_8h">
<area shape="rect" id="node3" href="_a_p___g_p_s___n_m_e_a_8h.html" title="AP_GPS_NMEA.h" alt="" coords="427,160,557,189"/><area shape="rect" id="node11" href="_a_p___g_p_s___s_i_r_f_8h.html" title="AP_GPS_SIRF.h" alt="" coords="891,160,1008,189"/><area shape="rect" id="node14" href="_a_p___g_p_s__406_8h.html" title="AP_GPS_406.h" alt="" coords="845,83,960,112"/><area shape="rect" id="node17" href="_a_p___g_p_s___u_b_l_o_x_8h.html" title="AP_GPS_UBLOX.h" alt="" coords="1032,160,1165,189"/><area shape="rect" id="node20" href="_a_p___g_p_s___m_t_k_8h.html" title="AP_GPS_MTK.h" alt="" coords="704,83,821,112"/><area shape="rect" id="node25" href="_a_p___g_p_s___m_t_k16_8h.html" title="AP_GPS_MTK16.h" alt="" coords="547,83,680,112"/><area shape="rect" id="node29" href="_a_p___g_p_s___none_8h.html" title="AP_GPS_None.h" alt="" coords="1189,160,1315,189"/><area shape="rect" id="node32" href="_a_p___g_p_s___auto_8h.html" title="AP_GPS_Auto.h" alt="" coords="213,83,336,112"/><area shape="rect" id="node49" href="_a_p___g_p_s___h_i_l_8h.html" title="AP_GPS_HIL.h" alt="" coords="360,83,472,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="564,237,625,267"/><area shape="rect" id="node23" href="_a_p___g_p_s___m_t_k___common_8h.html" title="AP_GPS_MTK_Common.h" alt="" coords="632,160,816,189"/><area shape="rect" id="node35" href="_fast_serial_8h.html" title="FastSerial.h" alt="" coords="205,160,301,189"/><area shape="rect" id="node44" href="_better_stream_8h.html" title="BetterStream.h" alt="" coords="325,237,448,267"/></map>
<div class="center"><img src="_a_p___g_p_s_8h__incl.png" border="0" usemap="#_a_p___g_p_s_8h" alt=""/></div>
<map name="_a_p___g_p_s_8h" id="_a_p___g_p_s_8h">
<area shape="rect" id="node3" href="_a_p___g_p_s___n_m_e_a_8h.html" title="AP_GPS_NMEA.h" alt="" coords="436,160,567,189"/><area shape="rect" id="node11" href="_a_p___g_p_s___s_i_r_f_8h.html" title="AP_GPS_SIRF.h" alt="" coords="900,160,1017,189"/><area shape="rect" id="node14" href="_a_p___g_p_s__406_8h.html" title="AP_GPS_406.h" alt="" coords="977,83,1092,112"/><area shape="rect" id="node17" href="_a_p___g_p_s___u_b_l_o_x_8h.html" title="AP_GPS_UBLOX.h" alt="" coords="1041,160,1175,189"/><area shape="rect" id="node20" href="_a_p___g_p_s___m_t_k_8h.html" title="AP_GPS_MTK.h" alt="" coords="628,83,745,112"/><area shape="rect" id="node25" href="_a_p___g_p_s___m_t_k16_8h.html" title="AP_GPS_MTK16.h" alt="" coords="769,83,903,112"/><area shape="rect" id="node29" href="_a_p___g_p_s___none_8h.html" title="AP_GPS_None.h" alt="" coords="1199,160,1324,189"/><area shape="rect" id="node32" href="_a_p___g_p_s___auto_8h.html" title="AP_GPS_Auto.h" alt="" coords="145,83,268,112"/><area shape="rect" id="node49" href="_a_p___g_p_s___h_i_l_8h.html" title="AP_GPS_HIL.h" alt="" coords="292,83,404,112"/><area shape="rect" id="node52" href="_a_p___g_p_s___shim_8h.html" title="AP_GPS_Shim.h" alt="" coords="428,83,553,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="523,237,584,267"/><area shape="rect" id="node23" href="_a_p___g_p_s___m_t_k___common_8h.html" title="AP_GPS_MTK_Common.h" alt="" coords="641,160,825,189"/><area shape="rect" id="node35" href="_fast_serial_8h.html" title="FastSerial.h" alt="" coords="160,160,256,189"/><area shape="rect" id="node44" href="_better_stream_8h.html" title="BetterStream.h" alt="" coords="235,237,357,267"/></map>
</div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_a_p___d_c_m___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h" alt="" coords="239,83,641,112"/><area shape="rect" id="node5" href="_a_p___d_c_m_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h" alt="" coords="13,160,389,189"/><area shape="rect" id="node12" href="_a_p___g_p_s___auto_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp" alt="" coords="665,83,1087,112"/><area shape="rect" id="node9" href="_a_p___d_c_m___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp" alt="" coords="413,160,832,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp" alt="" coords="5,237,397,267"/></map>
<div class="center"><img src="_a_p___g_p_s_8h__dep__incl.png" border="0" usemap="#_a_p___g_p_s_8hdep" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="93,83,208,112"/><area shape="rect" id="node5" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="12,160,100,189"/><area shape="rect" id="node12" href="_a_p___g_p_s___auto_8cpp.html" title="AP_GPS_Auto.cpp" alt="" coords="232,83,368,112"/><area shape="rect" id="node9" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="124,160,255,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="5,237,107,267"/></map>
</div>
<p><a href="_a_p___g_p_s_8h_source.html">Go to the source code of this file.</a></p>

6
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS.h Source File</title>
<title>ArduPilot Libraries: AP_GPS.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
<ul class="tablist">
<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
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@ -27,7 +28,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS.h</h1> </div>
<h1>AP_GPS.h</h1> </div>
</div>
<div class="contents">
<a href="_a_p___g_p_s_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
@ -42,6 +43,7 @@
<a name="l00012"></a>00012 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___g_p_s___none_8h.html">AP_GPS_None.h</a>&quot;</span>
<a name="l00013"></a>00013 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___g_p_s___auto_8h.html">AP_GPS_Auto.h</a>&quot;</span>
<a name="l00014"></a>00014 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___g_p_s___h_i_l_8h.html">AP_GPS_HIL.h</a>&quot;</span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___g_p_s___shim_8h.html">AP_GPS_Shim.h</a>&quot;</span> <span class="comment">// obsoletes AP_GPS_HIL, use in preference</span>
</pre></div></div>
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9
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.cpp File Reference</title>
<title>ArduPilot Libraries: AP_GPS_406.cpp File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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<li><a href="annotated.html"><span>Classes</span></a></li>
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@ -28,7 +29,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.cpp File Reference</h1> </div>
<h1>AP_GPS_406.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_fast_serial_8h_source.html">../FastSerial/FastSerial.h</a>&quot;</code><br/>
@ -37,8 +38,8 @@
<div class="dynheader">
Include dependency graph for AP_GPS_406.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___g_p_s__406_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8cpp" alt=""/></div>
<map name="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8cpp" id="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8cpp">
<div class="center"><img src="_a_p___g_p_s__406_8cpp__incl.png" border="0" usemap="#_a_p___g_p_s__406_8cpp" alt=""/></div>
<map name="_a_p___g_p_s__406_8cpp" id="_a_p___g_p_s__406_8cpp">
<area shape="rect" id="node3" href="_fast_serial_8h.html" title="../FastSerial/FastSerial.h" alt="" coords="157,160,331,189"/><area shape="rect" id="node19" href="_a_p___g_p_s__406_8h.html" title="AP_GPS_406.h" alt="" coords="337,83,452,112"/><area shape="rect" id="node27" href="_w_program_8h.html" title="WProgram.h" alt="" coords="476,83,575,112"/><area shape="rect" id="node13" href="_better_stream_8h.html" title="BetterStream.h" alt="" coords="464,237,587,267"/><area shape="rect" id="node21" href="_a_p___g_p_s___s_i_r_f_8h.html" title="AP_GPS_SIRF.h" alt="" coords="355,160,472,189"/><area shape="rect" id="node23" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="379,237,440,267"/></map>
</div>

5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.cpp Source File</title>
<title>ArduPilot Libraries: AP_GPS_406.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
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@ -14,6 +14,7 @@
<div class="tabs">
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
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@ -27,7 +28,7 @@
</div>
<div class="header">
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.cpp</h1> </div>
<h1>AP_GPS_406.cpp</h1> </div>
</div>
<div class="contents">
<a href="_a_p___g_p_s__406_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_406.h File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javaScript" src="search/search.js"></script>
@ -14,6 +14,7 @@
<div class="tabs">
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<li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
<li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
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@ -31,23 +32,23 @@
<a href="#nested-classes">Classes</a> &#124;
<a href="#define-members">Defines</a> </div>
<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.h File Reference</h1> </div>
<h1>AP_GPS_406.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___g_p_s___s_i_r_f_8h_source.html">AP_GPS_SIRF.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_GPS_406.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___g_p_s__406_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8h" alt=""/></div>
<map name="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8h" id="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s__406_8h">
<area shape="rect" id="node3" href="_a_p___g_p_s___s_i_r_f_8h.html" title="AP_GPS_SIRF.h" alt="" coords="148,83,265,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="176,160,237,189"/></map>
<div class="center"><img src="_a_p___g_p_s__406_8h__incl.png" border="0" usemap="#_a_p___g_p_s__406_8h" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___g_p_s___s_i_r_f_8h.html" title="AP_GPS_SIRF.h" alt="" coords="43,83,160,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="71,160,132,189"/></map>
</div>
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This graph shows which files directly or indirectly include this file:</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_406.h</h1> </div>
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<a href="_a_p___g_p_s__406_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp File Reference</title>
<title>ArduPilot Libraries: AP_GPS_Auto.cpp File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp File Reference</h1> </div>
<h1>AP_GPS_Auto.cpp File Reference</h1> </div>
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<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___g_p_s_8h_source.html">AP_GPS.h</a>&quot;</code><br/>
@ -36,9 +37,9 @@
<div class="dynheader">
Include dependency graph for AP_GPS_Auto.cpp:</div>
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<div class="center"><img src="_a_p___g_p_s___auto_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___auto_8cpp" alt=""/></div>
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@ -2,7 +2,7 @@
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp Source File</title>
<title>ArduPilot Libraries: AP_GPS_Auto.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp</h1> </div>
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<a href="_a_p___g_p_s___auto_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_Auto.h File Reference</title>
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@ -30,7 +31,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.h File Reference</h1> </div>
<h1>AP_GPS_Auto.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
@ -38,16 +39,16 @@
<div class="dynheader">
Include dependency graph for AP_GPS_Auto.h:</div>
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<div class="center"><img src="_a_p___g_p_s___auto_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___auto_8h" alt=""/></div>
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</div>
<div class="dynheader">
This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_a_p___g_p_s_8h.html" title="Catch&#45;all header that defines all supported GPS classes." alt="" coords="255,83,625,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h" alt="" coords="239,160,641,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h" alt="" coords="13,237,389,267"/><area shape="rect" id="node14" href="_a_p___g_p_s___auto_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp" alt="" coords="665,160,1087,189"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp" alt="" coords="413,237,832,267"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp" alt="" coords="5,315,397,344"/></map>
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<area shape="rect" id="node3" href="_a_p___g_p_s_8h.html" title="Catch&#45;all header that defines all supported GPS classes." alt="" coords="108,83,193,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="93,160,208,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="12,237,100,267"/><area shape="rect" id="node14" href="_a_p___g_p_s___auto_8cpp.html" title="AP_GPS_Auto.cpp" alt="" coords="232,160,368,189"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="124,237,255,267"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="5,315,107,344"/></map>
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.h Source File</title>
<title>ArduPilot Libraries: AP_GPS_Auto.h Source File</title>
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<a href="_a_p___g_p_s___auto_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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@ -14,6 +14,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.cpp File Reference</h1> </div>
<h1>AP_GPS_HIL.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___g_p_s___h_i_l_8h_source.html">AP_GPS_HIL.h</a>&quot;</code><br/>
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<div class="dynheader">
Include dependency graph for AP_GPS_HIL.cpp:</div>
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<div class="center"><img src="_a_p___g_p_s___h_i_l_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___h_i_l_8cpp" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___g_p_s___h_i_l_8h.html" title="AP_GPS_HIL.h" alt="" coords="92,83,204,112"/><area shape="rect" id="node11" href="_w_program_8h.html" title="WProgram.h" alt="" coords="228,83,327,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="117,160,179,189"/></map>
<div class="center"><img src="_a_p___g_p_s___h_i_l_8cpp__incl.png" border="0" usemap="#_a_p___g_p_s___h_i_l_8cpp" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___g_p_s___h_i_l_8h.html" title="AP_GPS_HIL.h" alt="" coords="45,83,157,112"/><area shape="rect" id="node11" href="_w_program_8h.html" title="WProgram.h" alt="" coords="181,83,280,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="71,160,132,189"/></map>
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<p><a href="_a_p___g_p_s___h_i_l_8cpp_source.html">Go to the source code of this file.</a></p>

5
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.cpp Source File</title>
<title>ArduPilot Libraries: AP_GPS_HIL.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.cpp</h1> </div>
<h1>AP_GPS_HIL.cpp</h1> </div>
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<a href="_a_p___g_p_s___h_i_l_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_HIL.h File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.h File Reference</h1> </div>
<h1>AP_GPS_HIL.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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Include dependency graph for AP_GPS_HIL.h:</div>
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<div class="center"><img src="_a_p___g_p_s___h_i_l_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___h_i_l_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_a_p___g_p_s_8h.html" title="Catch&#45;all header that defines all supported GPS classes." alt="" coords="108,83,193,112"/><area shape="rect" id="node16" href="_a_p___g_p_s___h_i_l_8cpp.html" title="AP_GPS_HIL.cpp" alt="" coords="217,83,343,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="93,160,208,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="12,237,100,267"/><area shape="rect" id="node14" href="_a_p___g_p_s___auto_8cpp.html" title="AP_GPS_Auto.cpp" alt="" coords="232,160,368,189"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="124,237,255,267"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="5,315,107,344"/></map>
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5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.h Source File</title>
<title>ArduPilot Libraries: AP_GPS_HIL.h Source File</title>
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_HIL.h</h1> </div>
<h1>AP_GPS_HIL.h</h1> </div>
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<a href="_a_p___g_p_s___h_i_l_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.cpp File Reference</title>
<title>ArduPilot Libraries: AP_GPS_MTK16.cpp File Reference</title>
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@ -28,7 +29,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.cpp File Reference</h1> </div>
<h1>AP_GPS_MTK16.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___g_p_s___m_t_k16_8h_source.html">AP_GPS_MTK16.h</a>&quot;</code><br/>
@ -36,8 +37,8 @@
<div class="dynheader">
Include dependency graph for AP_GPS_MTK16.cpp:</div>
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<div class="center"><img src="_a_p___g_p_s___m_t_k16_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___m_t_k16_8cpp" alt=""/></div>
<map name="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___m_t_k16_8cpp" id="_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___m_t_k16_8cpp">
<div class="center"><img src="_a_p___g_p_s___m_t_k16_8cpp__incl.png" border="0" usemap="#_a_p___g_p_s___m_t_k16_8cpp" alt=""/></div>
<map name="_a_p___g_p_s___m_t_k16_8cpp" id="_a_p___g_p_s___m_t_k16_8cpp">
<area shape="rect" id="node3" href="_a_p___g_p_s___m_t_k16_8h.html" title="AP_GPS_MTK16.h" alt="" coords="108,83,241,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="71,160,132,189"/><area shape="rect" id="node11" href="_a_p___g_p_s___m_t_k___common_8h.html" title="AP_GPS_MTK_Common.h" alt="" coords="156,160,340,189"/></map>
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<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.cpp Source File</title>
<title>ArduPilot Libraries: AP_GPS_MTK16.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.cpp</h1> </div>
<h1>AP_GPS_MTK16.cpp</h1> </div>
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<a href="_a_p___g_p_s___m_t_k16_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_MTK16.h File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.h File Reference</h1> </div>
<h1>AP_GPS_MTK16.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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<div class="dynheader">
Include dependency graph for AP_GPS_MTK16.h:</div>
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<div class="center"><img src="_a_p___g_p_s___m_t_k16_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___m_t_k16_8h" alt=""/></div>
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<div class="center"><img src="_a_p___g_p_s___m_t_k16_8h__incl.png" border="0" usemap="#_a_p___g_p_s___m_t_k16_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<title>ArduPilot Libraries: AP_GPS_MTK16.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK16.h</h1> </div>
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<code>#include &quot;<a class="el" href="_a_p___g_p_s___m_t_k_8h_source.html">AP_GPS_MTK.h</a>&quot;</code><br/>
@ -36,8 +37,8 @@
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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
@ -38,16 +39,16 @@
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Include dependency graph for AP_GPS_MTK.h:</div>
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<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK_Common.h Source File</title>
<title>ArduPilot Libraries: AP_GPS_MTK_Common.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_MTK_Common.h</h1> </div>
<h1>AP_GPS_MTK_Common.h</h1> </div>
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<a href="_a_p___g_p_s___m_t_k___common_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.cpp File Reference</title>
<title>ArduPilot Libraries: AP_GPS_NMEA.cpp File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.cpp File Reference</h1> </div>
<h1>AP_GPS_NMEA.cpp File Reference</h1> </div>
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<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___g_p_s___n_m_e_a_8h_source.html">AP_GPS_NMEA.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_GPS_NMEA.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___g_p_s___n_m_e_a_8cpp__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___g_p_s_2_a_p___g_p_s___n_m_e_a_8cpp" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___g_p_s___n_m_e_a_8h.html" title="AP_GPS_NMEA.h" alt="" coords="155,83,285,112"/><area shape="rect" id="node5" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers." alt="" coords="189,160,251,189"/></map>
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.cpp Source File</title>
<title>ArduPilot Libraries: AP_GPS_NMEA.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.cpp</h1> </div>
<h1>AP_GPS_NMEA.cpp</h1> </div>
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<a href="_a_p___g_p_s___n_m_e_a_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_NMEA.h File Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@ -31,23 +32,23 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.h File Reference</h1> </div>
<h1>AP_GPS_NMEA.h File Reference</h1> </div>
</div>
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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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Include dependency graph for AP_GPS_NMEA.h:</div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_a_p___g_p_s_8h.html" title="Catch&#45;all header that defines all supported GPS classes." alt="" coords="255,83,625,112"/><area shape="rect" id="node16" href="_a_p___g_p_s___n_m_e_a_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.cpp" alt="" coords="649,83,1079,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h" alt="" coords="239,160,641,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h" alt="" coords="13,237,389,267"/><area shape="rect" id="node14" href="_a_p___g_p_s___auto_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_Auto.cpp" alt="" coords="665,160,1087,189"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp" alt="" coords="413,237,832,267"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp" alt="" coords="5,315,397,344"/></map>
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<area shape="rect" id="node3" href="_a_p___g_p_s_8h.html" title="Catch&#45;all header that defines all supported GPS classes." alt="" coords="108,83,193,112"/><area shape="rect" id="node16" href="_a_p___g_p_s___n_m_e_a_8cpp.html" title="AP_GPS_NMEA.cpp" alt="" coords="217,83,361,112"/><area shape="rect" id="node5" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="93,160,208,189"/><area shape="rect" id="node7" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="12,237,100,267"/><area shape="rect" id="node14" href="_a_p___g_p_s___auto_8cpp.html" title="AP_GPS_Auto.cpp" alt="" coords="232,160,368,189"/><area shape="rect" id="node11" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="124,237,255,267"/><area shape="rect" id="node9" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="5,315,107,344"/></map>
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5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.h Source File</title>
<title>ArduPilot Libraries: AP_GPS_NMEA.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_NMEA.h</h1> </div>
<h1>AP_GPS_NMEA.h</h1> </div>
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<a href="_a_p___g_p_s___n_m_e_a_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_None.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_None.h File Reference</title>
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<h1>AP_GPS_None.h File Reference</h1> </div>
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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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Include dependency graph for AP_GPS_None.h:</div>
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<title>ArduPilot Libraries: AP_GPS_SIRF.cpp File Reference</title>
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<code>#include &quot;<a class="el" href="_a_p___g_p_s___s_i_r_f_8h_source.html">AP_GPS_SIRF.h</a>&quot;</code><br/>
@ -36,9 +37,9 @@
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Include dependency graph for AP_GPS_SIRF.cpp:</div>
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<a href="_a_p___g_p_s___s_i_r_f_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_SIRF.h File Reference</title>
<title>ArduPilot Libraries: AP_GPS_SIRF.h File Reference</title>
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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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Include dependency graph for AP_GPS_SIRF.h:</div>
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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___g_p_s___shim.html">AP_GPS_Shim</a></td></tr>
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Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___g_p_s___shim_8h.html#a29b9e62a891826a06460e53fbd5da76d">__GPS_SHIM_SET</a>(__type, __name)&nbsp;&nbsp;&nbsp;void set_##__name(__type v) { __name = v; _updated = true; }</td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a29b9e62a891826a06460e53fbd5da76d"></a><!-- doxytag: member="AP_GPS_Shim.h::__GPS_SHIM_SET" ref="a29b9e62a891826a06460e53fbd5da76d" args="(__type, __name)" -->
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<td class="memname">#define __GPS_SHIM_SET</td>
<td>(</td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">__type, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">__name</td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td>&nbsp;&nbsp;&nbsp;void set_##__name(__type v) { __name = v; _updated = true; }</td>
</tr>
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<p>Set-and-mark-updated macro for the public member variables; each instance defines a member function set_&lt;variable&gt;(&lt;type&gt;) </p>
<p>Definition at line <a class="el" href="_a_p___g_p_s___shim_8h_source.html#l00032">32</a> of file <a class="el" href="_a_p___g_p_s___shim_8h_source.html">AP_GPS_Shim.h</a>.</p>
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<h1>AP_GPS_Shim.h</h1> </div>
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<a href="_a_p___g_p_s___shim_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
<a name="l00002"></a>00002 <span class="comment">//</span>
<a name="l00003"></a>00003 <span class="comment">// Shim GPS driver, for use when the actual GPS data is coming from somewhere else.</span>
<a name="l00004"></a>00004 <span class="comment">// Code by Mike Smith</span>
<a name="l00005"></a>00005 <span class="comment">//</span>
<a name="l00006"></a>00006 <span class="comment">// This library is free software; you can redistribute it and / or</span>
<a name="l00007"></a>00007 <span class="comment">// modify it under the terms of the GNU Lesser General Public</span>
<a name="l00008"></a>00008 <span class="comment">// License as published by the Free Software Foundation; either</span>
<a name="l00009"></a>00009 <span class="comment">// version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">//</span>
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef AP_GPS_Shim_h</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define AP_GPS_Shim_h</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include &lt;<a class="code" href="_g_p_s_8h.html" title="Interface definition for the various GPS drivers.">GPS.h</a>&gt;</span>
<a name="l00016"></a>00016
<a name="l00017"></a><a class="code" href="class_a_p___g_p_s___shim.html">00017</a> <span class="keyword">class </span><a class="code" href="class_a_p___g_p_s___shim.html">AP_GPS_Shim</a> : <span class="keyword">public</span> <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a>
<a name="l00018"></a>00018 {
<a name="l00019"></a>00019 <span class="keyword">public</span>:
<a name="l00020"></a><a class="code" href="class_a_p___g_p_s___shim.html#a3eea7f9ae07e9f4ed536a3d5c314fc9c">00020</a> <a class="code" href="class_a_p___g_p_s___shim.html#a3eea7f9ae07e9f4ed536a3d5c314fc9c">AP_GPS_Shim</a>() : <a class="code" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers.">GPS</a>(NULL) {}
<a name="l00021"></a>00021
<a name="l00022"></a><a class="code" href="class_a_p___g_p_s___shim.html#a47becfc7f88ff5690718c1e73f738d42">00022</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___g_p_s___shim.html#a47becfc7f88ff5690718c1e73f738d42">init</a>(<span class="keywordtype">void</span>) {};
<a name="l00023"></a><a class="code" href="class_a_p___g_p_s___shim.html#acfa0308ba1a622a80a8b96edaeeabea9">00023</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___g_p_s___shim.html#acfa0308ba1a622a80a8b96edaeeabea9">read</a>(<span class="keywordtype">void</span>) {
<a name="l00024"></a>00024 <span class="keywordtype">bool</span> updated = _updated;
<a name="l00025"></a>00025 _updated = <span class="keyword">false</span>;
<a name="l00026"></a>00026 <span class="keywordflow">return</span> _updated;
<a name="l00027"></a>00027 }
<a name="l00028"></a>00028
<a name="l00032"></a><a class="code" href="_a_p___g_p_s___shim_8h.html#a29b9e62a891826a06460e53fbd5da76d">00032</a> <span class="preprocessor">#define __GPS_SHIM_SET(__type, __name) void set_##__name(__type v) { __name = v; _updated = true; }</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span> <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#a5400664cf0d912138e91260cbd2b3fa0" title="GPS time in milliseconds from the start of the week.">time</a>);
<a name="l00034"></a>00034 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#aa5df9c7bd452a9689054e55ec90dfef1" title="latitude in degrees * 10,000,000">latitude</a>);
<a name="l00035"></a>00035 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#ae64cbfd073326bd5ec8a6d0a1bae2746" title="longitude in degrees * 10,000,000">longitude</a>);
<a name="l00036"></a>00036 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#aaf73c8b7f3a10e7c37432448ad6582b2" title="altitude in cm">altitude</a>);
<a name="l00037"></a>00037 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#aba8ad9c8dd3aac81d0e3e2b25ef304c0" title="ground speed in cm/sec">ground_speed</a>);
<a name="l00038"></a>00038 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#a223b8bf1d912252c15aff621c37d00e3" title="ground course in 100ths of a degree">ground_course</a>);
<a name="l00039"></a>00039 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">long</span>, <a class="code" href="class_g_p_s.html#a39fa3ac4a5d784f63c934cdc37eac8b6" title="3D speed in cm/sec (not always available)">speed_3d</a>);
<a name="l00040"></a>00040 <a class="code" href="class_a_p___g_p_s___shim.html#a545d123a1bf7191d1400d291bd3020e0">__GPS_SHIM_SET</a>(<span class="keywordtype">int</span>, <a class="code" href="class_g_p_s.html#a354808671a37cd3d8681e51a7d809bcb" title="horizontal dilution of precision in cm">hdop</a>);
<a name="l00041"></a>00041 <span class="preprocessor">#undef __GPS_SHIM_SET</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a>00043 <span class="keyword">private</span>:
<a name="l00044"></a>00044 <span class="keywordtype">bool</span> _updated;
<a name="l00045"></a>00045 };
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="preprocessor">#endif // AP_GPS_HIL_H</span>
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<code>#include &quot;<a class="el" href="_a_p___g_p_s___u_b_l_o_x_8h_source.html">AP_GPS_UBLOX.h</a>&quot;</code><br/>
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<a href="_a_p___g_p_s___u_b_l_o_x_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<code>#include &lt;<a class="el" href="_g_p_s_8h_source.html">GPS.h</a>&gt;</code><br/>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_GPS/AP_GPS_UBLOX.h</h1> </div>
<h1>AP_GPS_UBLOX.h</h1> </div>
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<a href="_a_p___g_p_s___u_b_l_o_x_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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<title>ArduPilot Libraries: AP_IMU.h File Reference</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_IMU/AP_IMU.h File Reference</h1> </div>
<h1>AP_IMU.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;<a class="el" href="_fast_serial_8h_source.html">FastSerial.h</a>&gt;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___math_8h_source.html">AP_Math.h</a>&gt;</code><br/>
<code>#include &lt;inttypes.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="_w_program_8h_source.html">WProgram.h</a>&quot;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___a_d_c_8h_source.html">AP_ADC.h</a>&gt;</code><br/>
<code>#include &lt;avr/eeprom.h&gt;</code><br/>
<p>Catch-all header that defines all supported <a class="el" href="class_i_m_u.html">IMU</a> classes.
<a href="#_details">More...</a></p>
<code>#include &quot;<a class="el" href="_a_p___i_m_u___oilpan_8h_source.html">AP_IMU_Oilpan.h</a>&quot;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___i_m_u___shim_8h_source.html">AP_IMU_Shim.h</a>&quot;</code><br/>
<div class="dynheader">
Include dependency graph for AP_IMU.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___i_m_u_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___i_m_u_2_a_p___i_m_u_8h" alt=""/></div>
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<area shape="rect" id="node3" href="_a_p___i_m_u___oilpan_8h.html" title="IMU driver for the APM oilpan." alt="" coords="160,83,288,112"/><area shape="rect" id="node34" href="_a_p___i_m_u___shim_8h.html" title="IMU shim driver, used when the IMU data is coming from somewhere else." alt="" coords="312,83,435,112"/><area shape="rect" id="node5" href="_i_m_u_8h.html" title="Abstract class defining the interface to a real or virtual Inertial Measurement Unit." alt="" coords="161,160,220,189"/><area shape="rect" id="node7" href="_a_p___math_8h.html" title="AP_Math.h" alt="" coords="79,237,169,267"/><area shape="rect" id="node24" href="_a_p___a_d_c_8h.html" title="AP_ADC.h" alt="" coords="328,160,413,189"/><area shape="rect" id="node9" href="vector2_8h.html" title="vector2.h" alt="" coords="5,392,88,421"/><area shape="rect" id="node13" href="vector3_8h.html" title="vector3.h" alt="" coords="112,392,195,421"/><area shape="rect" id="node18" href="matrix3_8h.html" title="matrix3.h" alt="" coords="135,315,217,344"/><area shape="rect" id="node26" href="_a_p___a_d_c___a_d_s7844_8h.html" title="AP_ADC_ADS7844.h" alt="" coords="295,237,447,267"/><area shape="rect" id="node29" href="_a_p___a_d_c___h_i_l_8h.html" title="AP_ADC_HIL.h" alt="" coords="471,237,583,267"/></map>
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<p><a href="_a_p___i_m_u_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
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<tr><td class="memItemLeft" align="right" valign="top">class &nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___i_m_u.html">AP_IMU</a></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Catch-all header that defines all supported <a class="el" href="class_i_m_u.html">IMU</a> classes. </p>
<p><a class="el" href="class_i_m_u.html">IMU</a> driver for the APM oilpan.</p>
<p>Definition in file <a class="el" href="_a_p___i_m_u_8h_source.html">AP_IMU.h</a>.</p>
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<title>ArduPilot Libraries: AP_IMU.h Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_IMU/AP_IMU.h</h1> </div>
<h1>AP_IMU.h</h1> </div>
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<div class="contents">
<a href="_a_p___i_m_u_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef AP_IMU_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define AP_IMU_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;<a class="code" href="_fast_serial_8h.html">FastSerial.h</a>&gt;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___math_8h.html">AP_Math.h</a>&gt;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &lt;inttypes.h&gt;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &quot;<a class="code" href="_w_program_8h.html">WProgram.h</a>&quot;</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___a_d_c_8h.html">AP_ADC.h</a>&gt;</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &lt;avr/eeprom.h&gt;</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011
<a name="l00012"></a><a class="code" href="class_a_p___i_m_u.html">00012</a> <span class="keyword">class </span><a class="code" href="class_a_p___i_m_u.html">AP_IMU</a>
<a name="l00013"></a>00013 {
<a name="l00014"></a>00014
<a name="l00015"></a>00015 <span class="keyword">public</span>:
<a name="l00016"></a>00016 <span class="comment">// Constructors</span>
<a name="l00017"></a><a class="code" href="class_a_p___i_m_u.html#a1a1f69e6f3633497d2c54442f91d004b">00017</a> <a class="code" href="class_a_p___i_m_u.html#a1a1f69e6f3633497d2c54442f91d004b">AP_IMU</a>(<a class="code" href="class_a_p___a_d_c.html">AP_ADC</a> *adc, uint16_t address) :
<a name="l00018"></a>00018 _adc(adc),
<a name="l00019"></a>00019 _address(address)
<a name="l00020"></a>00020 {}
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="comment">// Methods</span>
<a name="l00023"></a>00023 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a9a11140ed95ac3c9897bc2febe26eb77">init</a>(<span class="keywordtype">void</span>); <span class="comment">// inits both</span>
<a name="l00024"></a>00024 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#aa3f086a668117214ba9853e6365e3d0a">init_accel</a>(<span class="keywordtype">void</span>); <span class="comment">// just Accels</span>
<a name="l00025"></a>00025 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a4b0359c017c12d4fbfedebff4e87cdf1">init_gyro</a>(<span class="keywordtype">void</span>); <span class="comment">// just gyros</span>
<a name="l00026"></a>00026 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a972d41a2a9fef4c5ba11d411ab4b5905">zero_accel</a>(<span class="keywordtype">void</span>);
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#ad10efda15dac602284616a6e56800efb">load_gyro_eeprom</a>(<span class="keywordtype">void</span>);
<a name="l00029"></a>00029 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a8ac2bdf10de028677126ddb8e19d1461">save_gyro_eeprom</a>(<span class="keywordtype">void</span>);
<a name="l00030"></a>00030 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a4616301dc3a4cb739d3b62dd9bdc83d2">load_accel_eeprom</a>(<span class="keywordtype">void</span>);
<a name="l00031"></a>00031 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a9009257aec9cdd8e0f2366b0ad74ecfd">save_accel_eeprom</a>(<span class="keywordtype">void</span>);
<a name="l00032"></a>00032 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#aae1c9f706c123b598ea503edb85e232e">print_accel_offsets</a>(<span class="keywordtype">void</span>);
<a name="l00033"></a>00033 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a2acce1a94d9f8cb636682b2526006007">print_gyro_offsets</a>(<span class="keywordtype">void</span>);
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="class_a_p___i_m_u.html#a6b79bbe7ac13e88e1151230f758582f9">00035</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a6b79bbe7ac13e88e1151230f758582f9">ax</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[3] = v; }
<a name="l00036"></a><a class="code" href="class_a_p___i_m_u.html#ad47db745596d30caa3e89b8a5aede888">00036</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#ad47db745596d30caa3e89b8a5aede888">ay</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[4] = v; }
<a name="l00037"></a><a class="code" href="class_a_p___i_m_u.html#a16f63c6b5393e44c1aea01d73438a10e">00037</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u.html#a16f63c6b5393e44c1aea01d73438a10e">az</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[5] = v; }
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">// raw ADC values - called by DCM</span>
<a name="l00041"></a>00041 <a class="code" href="class_vector3.html">Vector3f</a> <a class="code" href="class_a_p___i_m_u.html#ae3d7b3a78a8720c9a7ca2c85402c7638">get_gyro</a>(<span class="keywordtype">void</span>); <span class="comment">// Radians/second</span>
<a name="l00042"></a>00042 <a class="code" href="class_vector3.html">Vector3f</a> <a class="code" href="class_a_p___i_m_u.html#a6e9be9f56658410ac972d66b8985de6b">get_accel</a>(<span class="keywordtype">void</span>); <span class="comment">// meters/seconds squared</span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">// Members</span>
<a name="l00045"></a><a class="code" href="class_a_p___i_m_u.html#ad26b4707a58e838f2684d335374c34aa">00045</a> uint8_t <a class="code" href="class_a_p___i_m_u.html#ad26b4707a58e838f2684d335374c34aa">adc_constraints</a>; <span class="comment">// a check of how many times we get non-sensical values</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">private</span>:
<a name="l00048"></a>00048 <span class="comment">// Methods</span>
<a name="l00049"></a>00049 <span class="keywordtype">void</span> read_offsets(<span class="keywordtype">void</span>);
<a name="l00050"></a>00050 <span class="keywordtype">float</span> gyro_temp_comp(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> temp) <span class="keyword">const</span>;
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="comment">// members</span>
<a name="l00053"></a>00053 uint16_t _address; <span class="comment">// EEPROM start address for saving/retrieving offsets</span>
<a name="l00054"></a>00054 <span class="keywordtype">float</span> _adc_in[6]; <span class="comment">// array that store the 6 ADC channels used by IMU</span>
<a name="l00055"></a>00055 <span class="keywordtype">float</span> _adc_offset[6]; <span class="comment">// Array that store the Offset of the gyros and accelerometers</span>
<a name="l00056"></a>00056 <a class="code" href="class_vector3.html">Vector3f</a> _accel_vector; <span class="comment">// Store the acceleration in a vector</span>
<a name="l00057"></a>00057 <a class="code" href="class_vector3.html">Vector3f</a> _gyro_vector; <span class="comment">// Store the gyros turn rate in a vector</span>
<a name="l00058"></a>00058 <a class="code" href="class_a_p___a_d_c.html">AP_ADC</a> * _adc; <span class="comment">// Analog to digital converter pointer</span>
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordtype">float</span> read_EE_float(<span class="keywordtype">int</span> address);
<a name="l00061"></a>00061 <span class="keywordtype">void</span> write_EE_float(<span class="keywordtype">float</span> value, <span class="keywordtype">int</span> address);
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">// constants</span>
<a name="l00064"></a>00064 <span class="keyword">static</span> <span class="keyword">const</span> uint8_t _sensors[6];
<a name="l00065"></a>00065 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> _sensor_signs[9];
<a name="l00066"></a>00066 <span class="keyword">static</span> <span class="keyword">const</span> uint8_t _gyro_temp_ch = 3; <span class="comment">// The ADC channel reading the gyro temperature</span>
<a name="l00067"></a>00067 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> _gyro_temp_curve[3][3];
<a name="l00068"></a>00068 };
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="preprocessor">#endif</span>
<a href="_a_p___i_m_u_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
<a name="l00002"></a>00002
<a name="l00005"></a>00005
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___i_m_u___oilpan_8h.html" title="IMU driver for the APM oilpan.">AP_IMU_Oilpan.h</a>&quot;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___i_m_u___shim_8h.html" title="IMU shim driver, used when the IMU data is coming from somewhere else.">AP_IMU_Shim.h</a>&quot;</span>
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<h1>AP_IMU_Oilpan.cpp File Reference</h1> </div>
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<code>#include &lt;<a class="el" href="_fast_serial_8h_source.html">FastSerial.h</a>&gt;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___common_8h_source.html">AP_Common.h</a>&gt;</code><br/>
<code>#include &lt;avr/eeprom.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="_a_p___i_m_u___oilpan_8h_source.html">AP_IMU_Oilpan.h</a>&quot;</code><br/>
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Include dependency graph for AP_IMU_Oilpan.cpp:</div>
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Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>&nbsp;&nbsp;&nbsp;37</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>&nbsp;&nbsp;&nbsp;35</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#a6801baa546c6112d19eb095111d24720">GRAVITY</a>&nbsp;&nbsp;&nbsp;418.0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#a13e740232f35f26c07b1b915cab9d4bc">accel_scale</a>(x)&nbsp;&nbsp;&nbsp;(x*9.80665/GRAVITY)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#a0faaa1abe1ae542341b8d9bd7ce54d99">_gyro_gain_x</a>&nbsp;&nbsp;&nbsp;0.4</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#afc839d9b91d74b4baffdde51408108b5">_gyro_gain_y</a>&nbsp;&nbsp;&nbsp;0.41</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#aee78c6ea2bb7b6e8a9d967d4fc7fe127">_gyro_gain_z</a>&nbsp;&nbsp;&nbsp;0.41</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>&nbsp;&nbsp;&nbsp;900</td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a0faaa1abe1ae542341b8d9bd7ce54d99"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::_gyro_gain_x" ref="a0faaa1abe1ae542341b8d9bd7ce54d99" args="" -->
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<td class="memname">#define _gyro_gain_x&nbsp;&nbsp;&nbsp;0.4</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00036">36</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="afc839d9b91d74b4baffdde51408108b5"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::_gyro_gain_y" ref="afc839d9b91d74b4baffdde51408108b5" args="" -->
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<td class="memname">#define _gyro_gain_y&nbsp;&nbsp;&nbsp;0.41</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00037">37</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="aee78c6ea2bb7b6e8a9d967d4fc7fe127"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::_gyro_gain_z" ref="aee78c6ea2bb7b6e8a9d967d4fc7fe127" args="" -->
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<td class="memname">#define _gyro_gain_z&nbsp;&nbsp;&nbsp;0.41</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00038">38</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="a89a26b9d37cc51864764942700a2fc15"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::A_LED_PIN" ref="a89a26b9d37cc51864764942700a2fc15" args="" -->
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<td class="memname">#define A_LED_PIN&nbsp;&nbsp;&nbsp;37</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00025">25</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="a13e740232f35f26c07b1b915cab9d4bc"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::accel_scale" ref="a13e740232f35f26c07b1b915cab9d4bc" args="(x)" -->
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<td class="memname">#define accel_scale</td>
<td>(</td>
<td class="paramtype">&nbsp;</td>
<td class="paramname">x</td>
<td>&nbsp;)&nbsp;</td>
<td>&nbsp;&nbsp;&nbsp;(x*9.80665/GRAVITY)</td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00032">32</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="ae4132efd8235f9b057b6b1d24272dd79"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::ADC_CONSTRAINT" ref="ae4132efd8235f9b057b6b1d24272dd79" args="" -->
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<td class="memname">#define ADC_CONSTRAINT&nbsp;&nbsp;&nbsp;900</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00040">40</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="a48fee4bef9f91c681247a9858c246b78"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::C_LED_PIN" ref="a48fee4bef9f91c681247a9858c246b78" args="" -->
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<td class="memname">#define C_LED_PIN&nbsp;&nbsp;&nbsp;35</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00026">26</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<a class="anchor" id="a6801baa546c6112d19eb095111d24720"></a><!-- doxytag: member="AP_IMU_Oilpan.cpp::GRAVITY" ref="a6801baa546c6112d19eb095111d24720" args="" -->
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<td class="memname">#define GRAVITY&nbsp;&nbsp;&nbsp;418.0</td>
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<p>Definition at line <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html#l00031">31</a> of file <a class="el" href="_a_p___i_m_u___oilpan_8cpp_source.html">AP_IMU_Oilpan.cpp</a>.</p>
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<h1>AP_IMU_Oilpan.cpp</h1> </div>
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<a href="_a_p___i_m_u___oilpan_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
<a name="l00002"></a>00002 <span class="comment">//</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// AP_IMU.cpp - IMU Sensor Library for Ardupilot Mega</span>
<a name="l00005"></a>00005 <span class="comment">// Code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com</span>
<a name="l00006"></a>00006 <span class="comment">//</span>
<a name="l00007"></a>00007 <span class="comment">// This library works with the ArduPilot Mega and &quot;Oilpan&quot;</span>
<a name="l00008"></a>00008 <span class="comment">//</span>
<a name="l00009"></a>00009 <span class="comment">// This library is free software; you can redistribute it and/or</span>
<a name="l00010"></a>00010 <span class="comment">// modify it under the terms of the GNU Lesser General Public</span>
<a name="l00011"></a>00011 <span class="comment">// License as published by the Free Software Foundation; either</span>
<a name="l00012"></a>00012 <span class="comment">// version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014
<a name="l00017"></a>00017
<a name="l00018"></a>00018 <span class="preprocessor">#include &lt;<a class="code" href="_fast_serial_8h.html">FastSerial.h</a>&gt;</span>
<a name="l00019"></a>00019 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___common_8h.html" title="Common definitions and utility routines for the ArduPilot libraries.">AP_Common.h</a>&gt;</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021 <span class="preprocessor">#include &lt;avr/eeprom.h&gt;</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___i_m_u___oilpan_8h.html" title="IMU driver for the APM oilpan.">AP_IMU_Oilpan.h</a>&quot;</span>
<a name="l00024"></a>00024
<a name="l00025"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">00025</a> <span class="preprocessor">#define A_LED_PIN 37 //37 = A, 35 = C</span>
<a name="l00026"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">00026</a> <span class="preprocessor"></span><span class="preprocessor">#define C_LED_PIN 35</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span>
<a name="l00028"></a>00028 <span class="comment">// ADC : Voltage reference 3.3v / 12bits(4096 steps) =&gt; 0.8mV/ADC step</span>
<a name="l00029"></a>00029 <span class="comment">// ADXL335 Sensitivity(from datasheet) =&gt; 330mV/g, 0.8mV/ADC step =&gt; 330/0.8 = 412</span>
<a name="l00030"></a>00030 <span class="comment">// Tested value : 418</span>
<a name="l00031"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a6801baa546c6112d19eb095111d24720">00031</a> <span class="preprocessor">#define GRAVITY 418.0 // 1G in the raw data coming from the accelerometer</span>
<a name="l00032"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a13e740232f35f26c07b1b915cab9d4bc">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define accel_scale(x) (x*9.80665/GRAVITY) // Scaling the raw data of the accel to actual acceleration in m/s/s</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="comment">// IDG500 Sensitivity (from datasheet) =&gt; 2.0mV/º/s, 0.8mV/ADC step =&gt; 0.8/3.33 = 0.4</span>
<a name="l00035"></a>00035 <span class="comment">// Tested values : 0.4026, ?, 0.4192</span>
<a name="l00036"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a0faaa1abe1ae542341b8d9bd7ce54d99">00036</a> <span class="preprocessor">#define _gyro_gain_x 0.4 //X axis Gyro gain</span>
<a name="l00037"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#afc839d9b91d74b4baffdde51408108b5">00037</a> <span class="preprocessor"></span><span class="preprocessor">#define _gyro_gain_y 0.41 //Y axis Gyro gain</span>
<a name="l00038"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#aee78c6ea2bb7b6e8a9d967d4fc7fe127">00038</a> <span class="preprocessor"></span><span class="preprocessor">#define _gyro_gain_z 0.41 //Z axis Gyro</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a><a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">00040</a> <span class="preprocessor">#define ADC_CONSTRAINT 900</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a>00042 <span class="comment">// Sensors: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ</span>
<a name="l00043"></a>00043 <span class="keyword">const</span> uint8_t AP_IMU_Oilpan::_sensors[6] = { 1, 2, 0, 4, 5, 6}; <span class="comment">// For ArduPilot Mega Sensor Shield Hardware</span>
<a name="l00044"></a>00044 <span class="keyword">const</span> int8_t AP_IMU_Oilpan::_sensor_signs[6] = { 1,-1,-1, 1,-1,-1};
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">// Temp compensation curve constants</span>
<a name="l00047"></a>00047 <span class="comment">// These must be produced by measuring data and curve fitting</span>
<a name="l00048"></a>00048 <span class="comment">// [X/Y/Z gyro][A/B/C or 0 order/1st order/2nd order constants]</span>
<a name="l00049"></a>00049 <span class="keyword">const</span> <span class="keywordtype">float</span> AP_IMU_Oilpan::_gyro_temp_curve[3][3] = {
<a name="l00050"></a>00050 {1665,0,0},
<a name="l00051"></a>00051 {1665,0,0},
<a name="l00052"></a>00052 {1665,0,0}
<a name="l00053"></a>00053 }; <span class="comment">// To Do - make additional constructors to pass this in.</span>
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keywordtype">void</span>
<a name="l00056"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#abc3ac9bdd9c8fb93e9dda339ae66ea71">00056</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#abc3ac9bdd9c8fb93e9dda339ae66ea71">AP_IMU_Oilpan::init</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <a class="code" href="class_a_p___i_m_u___oilpan.html#a21fdbf920ac0697dfe97b8f2d138bda0">init_gyro</a>(style);
<a name="l00059"></a>00059 <a class="code" href="class_a_p___i_m_u___oilpan.html#a8f258421660cdd01fbf945108514d657">init_accel</a>(style);
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="comment">/**************************************************/</span>
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keywordtype">void</span>
<a name="l00065"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a21fdbf920ac0697dfe97b8f2d138bda0">00065</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a21fdbf920ac0697dfe97b8f2d138bda0">AP_IMU_Oilpan::init_gyro</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordtype">float</span> temp;
<a name="l00068"></a>00068 <span class="keywordtype">int</span> flashcount = 0;
<a name="l00069"></a>00069 <span class="keywordtype">int</span> tc_temp;
<a name="l00070"></a>00070 <span class="keywordtype">float</span> adc_in[6];
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">// warm start, load saved cal from EEPROM</span>
<a name="l00073"></a>00073 <span class="keywordflow">if</span> ((<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7a966ab2a7917892dd74154eae066f6838">WARM_START</a> == style) &amp;&amp; (0 != _address)) {
<a name="l00074"></a>00074 _adc_offset[0] = read_EE_float(_address );
<a name="l00075"></a>00075 _adc_offset[1] = read_EE_float(_address + 4);
<a name="l00076"></a>00076 _adc_offset[2] = read_EE_float(_address + 8);
<a name="l00077"></a>00077 <span class="keywordflow">return</span>;
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">// cold start</span>
<a name="l00081"></a>00081 tc_temp = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_gyro_temp_ch);
<a name="l00082"></a>00082 delay(500);
<a name="l00083"></a>00083 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(<span class="stringliteral">&quot;Init Gyro&quot;</span>);
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">for</span>(<span class="keywordtype">int</span> c = 0; c &lt; 200; c++){
<a name="l00086"></a>00086 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, LOW);
<a name="l00087"></a>00087 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, HIGH);
<a name="l00088"></a>00088 delay(20);
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 6; i++)
<a name="l00091"></a>00091 adc_in[i] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[i]);
<a name="l00092"></a>00092
<a name="l00093"></a>00093 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, HIGH);
<a name="l00094"></a>00094 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, LOW);
<a name="l00095"></a>00095 delay(20);
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 200; i++){
<a name="l00099"></a>00099 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt;= 2; j++){
<a name="l00100"></a>00100 adc_in[j] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[j]);
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// Subtract temp compensated typical gyro bias</span>
<a name="l00103"></a>00103 adc_in[j] -= _gyro_temp_comp(j, tc_temp);
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// filter</span>
<a name="l00106"></a>00106 _adc_offset[j] = _adc_offset[j] * 0.9 + adc_in[j] * 0.1;
<a name="l00107"></a>00107 <span class="comment">//Serial.print(_adc_offset[j], 1);</span>
<a name="l00108"></a>00108 <span class="comment">//Serial.print(&quot;, &quot;);</span>
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110 <span class="comment">//Serial.println(&quot; &quot;);</span>
<a name="l00111"></a>00111
<a name="l00112"></a>00112 delay(20);
<a name="l00113"></a>00113 <span class="keywordflow">if</span>(flashcount == 5) {
<a name="l00114"></a>00114 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;*&quot;</span>);
<a name="l00115"></a>00115 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, LOW);
<a name="l00116"></a>00116 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, HIGH);
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordflow">if</span>(flashcount &gt;= 10) {
<a name="l00120"></a>00120 flashcount = 0;
<a name="l00121"></a>00121 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, LOW);
<a name="l00122"></a>00122 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, HIGH);
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 flashcount++;
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(<span class="stringliteral">&quot; &quot;</span>);
<a name="l00127"></a>00127
<a name="l00128"></a>00128 _save_gyro_cal();
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="keywordtype">void</span>
<a name="l00133"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a8f258421660cdd01fbf945108514d657">00133</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a8f258421660cdd01fbf945108514d657">AP_IMU_Oilpan::init_accel</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style) <span class="comment">// 3, 4, 5</span>
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135 <span class="keywordtype">float</span> temp;
<a name="l00136"></a>00136 <span class="keywordtype">int</span> flashcount = 0;
<a name="l00137"></a>00137 <span class="keywordtype">float</span> adc_in[6];
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">// warm start, load our saved cal from EEPROM</span>
<a name="l00140"></a>00140 <span class="keywordflow">if</span> ((<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7a966ab2a7917892dd74154eae066f6838">WARM_START</a> == style) &amp;&amp; (0 != _address)) {
<a name="l00141"></a>00141 _adc_offset[3] = read_EE_float(_address + 12);
<a name="l00142"></a>00142 _adc_offset[4] = read_EE_float(_address + 16);
<a name="l00143"></a>00143 _adc_offset[5] = read_EE_float(_address + 20);
<a name="l00144"></a>00144 <span class="keywordflow">return</span>;
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// cold start</span>
<a name="l00148"></a>00148 delay(500);
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(<span class="stringliteral">&quot;Init Accel&quot;</span>);
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 3; j &lt;= 5; j++){
<a name="l00153"></a>00153 adc_in[j] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[j]);
<a name="l00154"></a>00154 adc_in[j] -= 2025; <span class="comment">// XXX bias value?</span>
<a name="l00155"></a>00155 _adc_offset[j] = adc_in[j];
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 200; i++){ <span class="comment">// We take some readings...</span>
<a name="l00159"></a>00159
<a name="l00160"></a>00160 delay(20);
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 3; j &lt;= 5; j++){
<a name="l00163"></a>00163 adc_in[j] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[j]);
<a name="l00164"></a>00164 adc_in[j] -= 2025;
<a name="l00165"></a>00165 _adc_offset[j] = _adc_offset[j] * 0.9 + adc_in[j] * 0.1;
<a name="l00166"></a>00166 <span class="comment">//Serial.print(j);</span>
<a name="l00167"></a>00167 <span class="comment">//Serial.print(&quot;: &quot;);</span>
<a name="l00168"></a>00168 <span class="comment">//Serial.print(adc_in[j], 1);</span>
<a name="l00169"></a>00169 <span class="comment">//Serial.print(&quot; | &quot;);</span>
<a name="l00170"></a>00170 <span class="comment">//Serial.print(_adc_offset[j], 1);</span>
<a name="l00171"></a>00171 <span class="comment">//Serial.print(&quot;, &quot;);</span>
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="comment">//Serial.println(&quot; &quot;);</span>
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordflow">if</span>(flashcount == 5) {
<a name="l00177"></a>00177 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;*&quot;</span>);
<a name="l00178"></a>00178 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, LOW);
<a name="l00179"></a>00179 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, HIGH);
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="keywordflow">if</span>(flashcount &gt;= 10) {
<a name="l00183"></a>00183 flashcount = 0;
<a name="l00184"></a>00184 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a48fee4bef9f91c681247a9858c246b78">C_LED_PIN</a>, LOW);
<a name="l00185"></a>00185 digitalWrite(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a89a26b9d37cc51864764942700a2fc15">A_LED_PIN</a>, HIGH);
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187 flashcount++;
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(<span class="stringliteral">&quot; &quot;</span>);
<a name="l00190"></a>00190 _adc_offset[5] += <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a6801baa546c6112d19eb095111d24720">GRAVITY</a> * _sensor_signs[5];
<a name="l00191"></a>00191
<a name="l00192"></a>00192 _save_accel_cal();
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="keywordtype">void</span>
<a name="l00196"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a58cfd66961c2c798db47808135a18714">00196</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a58cfd66961c2c798db47808135a18714">AP_IMU_Oilpan::zero_accel</a>(<span class="keywordtype">void</span>) <span class="comment">// 3, 4, 5</span>
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198 _adc_offset[3] = 0;
<a name="l00199"></a>00199 _adc_offset[4] = 0;
<a name="l00200"></a>00200 _adc_offset[5] = 0;
<a name="l00201"></a>00201 _save_accel_cal();
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203
<a name="l00204"></a>00204 <span class="keywordtype">void</span>
<a name="l00205"></a>00205 AP_IMU_Oilpan::_save_gyro_cal(<span class="keywordtype">void</span>)
<a name="l00206"></a>00206 {
<a name="l00207"></a>00207 <span class="comment">// save cal to EEPROM for warm start</span>
<a name="l00208"></a>00208 <span class="keywordflow">if</span> (0 != _address) {
<a name="l00209"></a>00209 write_EE_float(_adc_offset[0], _address);
<a name="l00210"></a>00210 write_EE_float(_adc_offset[1], _address + 4);
<a name="l00211"></a>00211 write_EE_float(_adc_offset[2], _address + 8);
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="keywordtype">void</span>
<a name="l00216"></a>00216 AP_IMU_Oilpan::_save_accel_cal(<span class="keywordtype">void</span>)
<a name="l00217"></a>00217 {
<a name="l00218"></a>00218 <span class="comment">// save cal to EEPROM for warm start</span>
<a name="l00219"></a>00219 <span class="keywordflow">if</span> (0 != _address) {
<a name="l00220"></a>00220 write_EE_float(_adc_offset[3], _address + 12);
<a name="l00221"></a>00221 write_EE_float(_adc_offset[4], _address + 16);
<a name="l00222"></a>00222 write_EE_float(_adc_offset[5], _address + 20);
<a name="l00223"></a>00223 }
<a name="l00224"></a>00224 }
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="comment">/**************************************************/</span>
<a name="l00227"></a>00227 <span class="comment">// Returns the temperature compensated raw gyro value</span>
<a name="l00228"></a>00228 <span class="comment">//---------------------------------------------------</span>
<a name="l00229"></a>00229 <span class="keywordtype">float</span>
<a name="l00230"></a>00230 AP_IMU_Oilpan::_gyro_temp_comp(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> temp)<span class="keyword"> const</span>
<a name="l00231"></a>00231 <span class="keyword"></span>{
<a name="l00232"></a>00232 <span class="comment">// We use a 2nd order curve of the form Gtc = A + B * Graw + C * (Graw)**2</span>
<a name="l00233"></a>00233 <span class="comment">//------------------------------------------------------------------------</span>
<a name="l00234"></a>00234 <span class="keywordflow">return</span> _gyro_temp_curve[i][0] + _gyro_temp_curve[i][1] * temp + _gyro_temp_curve[i][2] * temp * temp;
<a name="l00235"></a>00235 }
<a name="l00236"></a>00236
<a name="l00237"></a>00237 <span class="keywordtype">float</span>
<a name="l00238"></a>00238 AP_IMU_Oilpan::_gyro_in(uint8_t channel, <span class="keywordtype">int</span> temperature)
<a name="l00239"></a>00239 {
<a name="l00240"></a>00240 <span class="keywordtype">float</span> adc_in;
<a name="l00241"></a>00241
<a name="l00242"></a>00242 adc_in = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[channel]);
<a name="l00243"></a>00243 adc_in -= _gyro_temp_comp(channel, temperature); <span class="comment">// Subtract temp compensated typical gyro bias</span>
<a name="l00244"></a>00244 <span class="keywordflow">if</span> (_sensor_signs[channel] &lt; 0) {
<a name="l00245"></a>00245 adc_in = _adc_offset[channel] - adc_in;
<a name="l00246"></a>00246 } <span class="keywordflow">else</span> {
<a name="l00247"></a>00247 adc_in = adc_in - _adc_offset[channel];
<a name="l00248"></a>00248 }
<a name="l00249"></a>00249
<a name="l00250"></a>00250 <span class="keywordflow">if</span> (fabs(adc_in) &gt; <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>) {
<a name="l00251"></a>00251 <a class="code" href="class_i_m_u.html#a1239aaa3224c964504f5ff1945950770">adc_constraints</a>++; <span class="comment">// We keep track of the number of times</span>
<a name="l00252"></a>00252 adc_in = constrain(adc_in, -<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>, <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>); <span class="comment">// Throw out nonsensical values</span>
<a name="l00253"></a>00253 }
<a name="l00254"></a>00254 <span class="keywordflow">return</span> adc_in;
<a name="l00255"></a>00255 }
<a name="l00256"></a>00256
<a name="l00257"></a>00257 <span class="keywordtype">float</span>
<a name="l00258"></a>00258 AP_IMU_Oilpan::_accel_in(uint8_t channel)
<a name="l00259"></a>00259 {
<a name="l00260"></a>00260 <span class="keywordtype">float</span> adc_in;
<a name="l00261"></a>00261
<a name="l00262"></a>00262 adc_in = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[channel]);
<a name="l00263"></a>00263 adc_in -= 2025; <span class="comment">// Subtract typical accel bias</span>
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="keywordflow">if</span> (_sensor_signs[channel] &lt; 0) {
<a name="l00266"></a>00266 adc_in = _adc_offset[channel] - adc_in;
<a name="l00267"></a>00267 } <span class="keywordflow">else</span> {
<a name="l00268"></a>00268 adc_in = adc_in - _adc_offset[channel];
<a name="l00269"></a>00269 }
<a name="l00270"></a>00270
<a name="l00271"></a>00271 <span class="keywordflow">if</span> (fabs(adc_in) &gt; <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>) {
<a name="l00272"></a>00272 <a class="code" href="class_i_m_u.html#a1239aaa3224c964504f5ff1945950770">adc_constraints</a>++; <span class="comment">// We keep track of the number of times</span>
<a name="l00273"></a>00273 adc_in = constrain(adc_in, -<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>, <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>); <span class="comment">// Throw out nonsensical values</span>
<a name="l00274"></a>00274 }
<a name="l00275"></a>00275 <span class="keywordflow">return</span> adc_in;
<a name="l00276"></a>00276 }
<a name="l00277"></a>00277
<a name="l00278"></a>00278 <span class="keywordtype">bool</span>
<a name="l00279"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a766a65169e94a095c6194e511558717d">00279</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a766a65169e94a095c6194e511558717d">AP_IMU_Oilpan::update</a>(<span class="keywordtype">void</span>)
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281 <span class="keywordtype">int</span> tc_temp = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_gyro_temp_ch);
<a name="l00282"></a>00282 <span class="keywordtype">float</span> adc_in[6];
<a name="l00283"></a>00283 <span class="preprocessor">#if 0</span>
<a name="l00284"></a>00284 <span class="preprocessor"></span> <span class="comment">// get current gyro readings</span>
<a name="l00285"></a>00285 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++) {
<a name="l00286"></a>00286 adc_in[i] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[i]);
<a name="l00287"></a>00287 adc_in[i] -= _gyro_temp_comp(i,tc_temp); <span class="comment">// Subtract temp compensated typical gyro bias</span>
<a name="l00288"></a>00288 <span class="keywordflow">if</span> (_sensor_signs[i] &lt; 0)
<a name="l00289"></a>00289 adc_in[i] = (_adc_offset[i] - adc_in[i]);
<a name="l00290"></a>00290 <span class="keywordflow">else</span>
<a name="l00291"></a>00291 adc_in[i] = (adc_in[i] - _adc_offset[i]);
<a name="l00292"></a>00292
<a name="l00293"></a>00293 <span class="keywordflow">if</span> (fabs(adc_in[i]) &gt; ADC_CONSTRAINT) {
<a name="l00294"></a>00294 <a class="code" href="class_i_m_u.html#a1239aaa3224c964504f5ff1945950770">adc_constraints</a>++; <span class="comment">// We keep track of the number of times</span>
<a name="l00295"></a>00295 adc_in[i] = constrain(adc_in[i], -<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>, <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>); <span class="comment">// Throw out nonsensical values</span>
<a name="l00296"></a>00296 }
<a name="l00297"></a>00297 }
<a name="l00298"></a>00298 <span class="preprocessor">#endif</span>
<a name="l00299"></a>00299 <span class="preprocessor"></span> <a class="code" href="class_i_m_u.html#a33f0574d229be1b24acb99334e174709" title="Most recent gyro reading obtained by update.">_gyro</a>.<a class="code" href="class_vector3.html#a1a0f7e168c71ca798099f0ba8a444244">x</a> = <a class="code" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">ToRad</a>(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a0faaa1abe1ae542341b8d9bd7ce54d99">_gyro_gain_x</a>) * _gyro_in(0, tc_temp);
<a name="l00300"></a>00300 <a class="code" href="class_i_m_u.html#a33f0574d229be1b24acb99334e174709" title="Most recent gyro reading obtained by update.">_gyro</a>.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a> = <a class="code" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">ToRad</a>(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#afc839d9b91d74b4baffdde51408108b5">_gyro_gain_y</a>) * _gyro_in(1, tc_temp);
<a name="l00301"></a>00301 <a class="code" href="class_i_m_u.html#a33f0574d229be1b24acb99334e174709" title="Most recent gyro reading obtained by update.">_gyro</a>.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a> = <a class="code" href="_a_p___common_8h.html#a728f9499baea61e7df3ae70a374f2512">ToRad</a>(<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#aee78c6ea2bb7b6e8a9d967d4fc7fe127">_gyro_gain_z</a>) * _gyro_in(2, tc_temp);
<a name="l00302"></a>00302 <span class="preprocessor">#if 0</span>
<a name="l00303"></a>00303 <span class="preprocessor"></span> <span class="comment">// get current accelerometer readings</span>
<a name="l00304"></a>00304 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 3; i &lt; 6; i++) {
<a name="l00305"></a>00305 adc_in[i] = _adc-&gt;<a class="code" href="class_a_p___a_d_c.html#a86463917e4e51400a0de3e12bb566c72">Ch</a>(_sensors[i]);
<a name="l00306"></a>00306 adc_in[i] -= 2025; <span class="comment">// Subtract typical accel bias</span>
<a name="l00307"></a>00307
<a name="l00308"></a>00308 <span class="keywordflow">if</span> (_sensor_signs[i] &lt; 0)
<a name="l00309"></a>00309 adc_in[i] = _adc_offset[i] - adc_in[i];
<a name="l00310"></a>00310 <span class="keywordflow">else</span>
<a name="l00311"></a>00311 adc_in[i] = adc_in[i] - _adc_offset[i];
<a name="l00312"></a>00312
<a name="l00313"></a>00313 <span class="keywordflow">if</span> (fabs(adc_in[i]) &gt; <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>) {
<a name="l00314"></a>00314 <a class="code" href="class_i_m_u.html#a1239aaa3224c964504f5ff1945950770">adc_constraints</a>++; <span class="comment">// We keep track of the number of times</span>
<a name="l00315"></a>00315 adc_in[i] = constrain(adc_in[i], -<a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>, <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#ae4132efd8235f9b057b6b1d24272dd79">ADC_CONSTRAINT</a>); <span class="comment">// Throw out nonsensical values</span>
<a name="l00316"></a>00316 }
<a name="l00317"></a>00317 }
<a name="l00318"></a>00318 <span class="preprocessor">#endif</span>
<a name="l00319"></a>00319 <span class="preprocessor"></span> <a class="code" href="class_i_m_u.html#aea1f8061c62fc5212895925157b06c74" title="Most recent accelerometer reading obtained by update.">_accel</a>.<a class="code" href="class_vector3.html#a1a0f7e168c71ca798099f0ba8a444244">x</a> = <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a13e740232f35f26c07b1b915cab9d4bc">accel_scale</a>(_accel_in(3));
<a name="l00320"></a>00320 <a class="code" href="class_i_m_u.html#aea1f8061c62fc5212895925157b06c74" title="Most recent accelerometer reading obtained by update.">_accel</a>.<a class="code" href="class_vector3.html#a561df88b28e106e337a25bb86554a569">y</a> = <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a13e740232f35f26c07b1b915cab9d4bc">accel_scale</a>(_accel_in(4));
<a name="l00321"></a>00321 <a class="code" href="class_i_m_u.html#aea1f8061c62fc5212895925157b06c74" title="Most recent accelerometer reading obtained by update.">_accel</a>.<a class="code" href="class_vector3.html#ab3e7f5401dd6e951978bfa746809f74f">z</a> = <a class="code" href="_a_p___i_m_u___oilpan_8cpp.html#a13e740232f35f26c07b1b915cab9d4bc">accel_scale</a>(_accel_in(5));
<a name="l00322"></a>00322
<a name="l00323"></a>00323 <span class="comment">// always updated</span>
<a name="l00324"></a>00324 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00325"></a>00325 }
<a name="l00326"></a>00326
<a name="l00327"></a>00327 <span class="comment">/********************************************************************************/</span>
<a name="l00328"></a>00328
<a name="l00329"></a>00329 <span class="keywordtype">void</span>
<a name="l00330"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#acd8eef2327ac2aeb96397e343c18c8d6">00330</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#acd8eef2327ac2aeb96397e343c18c8d6" title="XXX debug hack.">AP_IMU_Oilpan::print_accel_offsets</a>(<span class="keywordtype">void</span>)
<a name="l00331"></a>00331 {
<a name="l00332"></a>00332 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;Accel offsets: &quot;</span>);
<a name="l00333"></a>00333 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(_adc_offset[3], 2);
<a name="l00334"></a>00334 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;, &quot;</span>);
<a name="l00335"></a>00335 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(_adc_offset[4], 2);
<a name="l00336"></a>00336 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;, &quot;</span>);
<a name="l00337"></a>00337 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(_adc_offset[5], 2);
<a name="l00338"></a>00338 }
<a name="l00339"></a>00339
<a name="l00340"></a>00340 <span class="keywordtype">void</span>
<a name="l00341"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a5ea5562c1913b8cd551522e65d816212">00341</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a5ea5562c1913b8cd551522e65d816212" title="XXX debug hack.">AP_IMU_Oilpan::print_gyro_offsets</a>(<span class="keywordtype">void</span>)
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;Gyro offsets: &quot;</span>);
<a name="l00344"></a>00344 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(_adc_offset[0], 2);
<a name="l00345"></a>00345 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;, &quot;</span>);
<a name="l00346"></a>00346 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(_adc_offset[1], 2);
<a name="l00347"></a>00347 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.print(<span class="stringliteral">&quot;, &quot;</span>);
<a name="l00348"></a>00348 <a class="code" href="_fast_serial_8h.html#a8e6f49b84135f0158fe250cb7338ddad">Serial</a>.println(_adc_offset[2], 2);
<a name="l00349"></a>00349 }
<a name="l00350"></a>00350
<a name="l00351"></a>00351 <span class="comment">/********************************************************************************/</span>
<a name="l00352"></a>00352
<a name="l00353"></a>00353 <span class="keywordtype">float</span>
<a name="l00354"></a>00354 AP_IMU_Oilpan::read_EE_float(<span class="keywordtype">int</span> address)
<a name="l00355"></a>00355 {
<a name="l00356"></a>00356 <span class="keyword">union </span>{
<a name="l00357"></a>00357 byte bytes[4];
<a name="l00358"></a>00358 <span class="keywordtype">float</span> value;
<a name="l00359"></a>00359 } _floatOut;
<a name="l00360"></a>00360
<a name="l00361"></a>00361 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++)
<a name="l00362"></a>00362 _floatOut.bytes[i] = eeprom_read_byte((uint8_t *) (address + i));
<a name="l00363"></a>00363 <span class="keywordflow">return</span> _floatOut.value;
<a name="l00364"></a>00364 }
<a name="l00365"></a>00365
<a name="l00366"></a>00366 <span class="keywordtype">void</span>
<a name="l00367"></a>00367 AP_IMU_Oilpan::write_EE_float(<span class="keywordtype">float</span> value, <span class="keywordtype">int</span> address)
<a name="l00368"></a>00368 {
<a name="l00369"></a>00369 <span class="keyword">union </span>{
<a name="l00370"></a>00370 byte bytes[4];
<a name="l00371"></a>00371 <span class="keywordtype">float</span> value;
<a name="l00372"></a>00372 } _floatIn;
<a name="l00373"></a>00373
<a name="l00374"></a>00374 _floatIn.value = value;
<a name="l00375"></a>00375 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++)
<a name="l00376"></a>00376 eeprom_write_byte((uint8_t *) (address + i), _floatIn.bytes[i]);
<a name="l00377"></a>00377 }
<a name="l00378"></a>00378
</pre></div></div>
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<h1>AP_IMU_Oilpan.h File Reference</h1> </div>
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<div class="contents">
<p><a class="el" href="class_i_m_u.html">IMU</a> driver for the APM oilpan.
<a href="#_details">More...</a></p>
<code>#include &quot;<a class="el" href="_i_m_u_8h_source.html">IMU.h</a>&quot;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___math_8h_source.html">AP_Math.h</a>&gt;</code><br/>
<code>#include &lt;<a class="el" href="_a_p___a_d_c_8h_source.html">AP_ADC.h</a>&gt;</code><br/>
<code>#include &lt;inttypes.h&gt;</code><br/>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p><a class="el" href="class_i_m_u.html">IMU</a> driver for the APM oilpan. </p>
<p>Definition in file <a class="el" href="_a_p___i_m_u___oilpan_8h_source.html">AP_IMU_Oilpan.h</a>.</p>
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<h1>AP_IMU_Oilpan.h</h1> </div>
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<a href="_a_p___i_m_u___oilpan_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
<a name="l00002"></a>00002
<a name="l00005"></a>00005
<a name="l00006"></a>00006 <span class="preprocessor">#ifndef AP_IMU_Oilpan_h</span>
<a name="l00007"></a>00007 <span class="preprocessor"></span><span class="preprocessor">#define AP_IMU_Oilpan_h</span>
<a name="l00008"></a>00008 <span class="preprocessor"></span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &quot;<a class="code" href="_i_m_u_8h.html" title="Abstract class defining the interface to a real or virtual Inertial Measurement Unit.">IMU.h</a>&quot;</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___math_8h.html">AP_Math.h</a>&gt;</span>
<a name="l00012"></a>00012 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___a_d_c_8h.html">AP_ADC.h</a>&gt;</span>
<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;inttypes.h&gt;</span>
<a name="l00014"></a>00014
<a name="l00015"></a><a class="code" href="class_a_p___i_m_u___oilpan.html">00015</a> <span class="keyword">class </span><a class="code" href="class_a_p___i_m_u___oilpan.html">AP_IMU_Oilpan</a> : <span class="keyword">public</span> <a class="code" href="class_i_m_u.html">IMU</a>
<a name="l00016"></a>00016 {
<a name="l00017"></a>00017
<a name="l00018"></a>00018 <span class="keyword">public</span>:
<a name="l00019"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a1c052aa18a95ef59ea63ee4e51e660c8">00019</a> <a class="code" href="class_a_p___i_m_u___oilpan.html#a1c052aa18a95ef59ea63ee4e51e660c8">AP_IMU_Oilpan</a>(<a class="code" href="class_a_p___a_d_c.html">AP_ADC</a> *adc, uint16_t address) :
<a name="l00020"></a>00020 _adc(adc),
<a name="l00021"></a>00021 _address(address)
<a name="l00022"></a>00022 {}
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#abc3ac9bdd9c8fb93e9dda339ae66ea71">init</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style = <a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7a424b5aaa81a970a788b293e6ae431d8a">COLD_START</a>);
<a name="l00025"></a>00025 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a8f258421660cdd01fbf945108514d657">init_accel</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style = <a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7a424b5aaa81a970a788b293e6ae431d8a">COLD_START</a>);
<a name="l00026"></a>00026 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a21fdbf920ac0697dfe97b8f2d138bda0">init_gyro</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style = <a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7a424b5aaa81a970a788b293e6ae431d8a">COLD_START</a>);
<a name="l00027"></a>00027 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a766a65169e94a095c6194e511558717d">update</a>(<span class="keywordtype">void</span>);
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">// XXX backwards compat hacks</span>
<a name="l00030"></a>00030 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a58cfd66961c2c798db47808135a18714">zero_accel</a>(<span class="keywordtype">void</span>);
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#acd8eef2327ac2aeb96397e343c18c8d6" title="XXX debug hack.">print_accel_offsets</a>(<span class="keywordtype">void</span>);
<a name="l00033"></a>00033 <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a5ea5562c1913b8cd551522e65d816212" title="XXX debug hack.">print_gyro_offsets</a>(<span class="keywordtype">void</span>);
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a1b06d4287bae84b6d0c8dcbb3346bef8">00035</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a1b06d4287bae84b6d0c8dcbb3346bef8">ax</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[3] = v; }
<a name="l00036"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#a32ee20362392d6262e1b459765de5a97">00036</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#a32ee20362392d6262e1b459765de5a97">ay</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[4] = v; }
<a name="l00037"></a><a class="code" href="class_a_p___i_m_u___oilpan.html#aef91753e7d1429dc0238175020b58d77">00037</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___oilpan.html#aef91753e7d1429dc0238175020b58d77">az</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> v) { _adc_offset[5] = v; }
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">private</span>:
<a name="l00040"></a>00040 <span class="keywordtype">float</span> _gyro_temp_comp(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> temp) <span class="keyword">const</span>;
<a name="l00041"></a>00041 <span class="keywordtype">void</span> _save_gyro_cal(<span class="keywordtype">void</span>);
<a name="l00042"></a>00042 <span class="keywordtype">void</span> _save_accel_cal(<span class="keywordtype">void</span>);
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keywordtype">float</span> _gyro_in(uint8_t channel, <span class="keywordtype">int</span> temperature);
<a name="l00045"></a>00045 <span class="keywordtype">float</span> _accel_in(uint8_t channel);
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <a class="code" href="class_a_p___a_d_c.html">AP_ADC</a> *_adc; <span class="comment">// Analog to digital converter pointer</span>
<a name="l00048"></a>00048 uint16_t _address; <span class="comment">// EEPROM start address for saving/retrieving offsets</span>
<a name="l00049"></a>00049 <span class="keywordtype">float</span> _adc_offset[6]; <span class="comment">// Array that store the Offset of the gyros and accelerometers</span>
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">// XXX should not be implementing these here</span>
<a name="l00052"></a>00052 <span class="keywordtype">float</span> read_EE_float(<span class="keywordtype">int</span> address);
<a name="l00053"></a>00053 <span class="keywordtype">void</span> write_EE_float(<span class="keywordtype">float</span> value, <span class="keywordtype">int</span> address);
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">// constants</span>
<a name="l00056"></a>00056 <span class="keyword">static</span> <span class="keyword">const</span> uint8_t _sensors[6];
<a name="l00057"></a>00057 <span class="keyword">static</span> <span class="keyword">const</span> int8_t _sensor_signs[6];
<a name="l00058"></a>00058 <span class="keyword">static</span> <span class="keyword">const</span> uint8_t _gyro_temp_ch = 3; <span class="comment">// The ADC channel reading the gyro temperature</span>
<a name="l00059"></a>00059 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> _gyro_temp_curve[3][3];
<a name="l00060"></a>00060 };
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="preprocessor">#endif</span>
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<p><a class="el" href="class_i_m_u.html">IMU</a> shim driver, used when the <a class="el" href="class_i_m_u.html">IMU</a> data is coming from somewhere else.
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p><a class="el" href="class_i_m_u.html">IMU</a> shim driver, used when the <a class="el" href="class_i_m_u.html">IMU</a> data is coming from somewhere else. </p>
<p>Definition in file <a class="el" href="_a_p___i_m_u___shim_8h_source.html">AP_IMU_Shim.h</a>.</p>
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<a href="_a_p___i_m_u___shim_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>
<a name="l00002"></a>00002
<a name="l00005"></a>00005
<a name="l00006"></a>00006 <span class="preprocessor">#ifndef AP_IMU_Shim_h</span>
<a name="l00007"></a>00007 <span class="preprocessor"></span><span class="preprocessor">#define AP_IMU_Shim_h</span>
<a name="l00008"></a>00008 <span class="preprocessor"></span>
<a name="l00009"></a><a class="code" href="class_a_p___i_m_u___shim.html">00009</a> <span class="keyword">class </span><a class="code" href="class_a_p___i_m_u___shim.html">AP_IMU_Shim</a> : <span class="keyword">public</span> <a class="code" href="class_i_m_u.html">IMU</a>
<a name="l00010"></a>00010 {
<a name="l00011"></a>00011 <span class="keyword">public</span>:
<a name="l00012"></a><a class="code" href="class_a_p___i_m_u___shim.html#aec820ee9ebcf27884168e20d4b03f757">00012</a> <a class="code" href="class_a_p___i_m_u___shim.html#aec820ee9ebcf27884168e20d4b03f757">AP_IMU_Shim</a>(<span class="keywordtype">void</span>) {}
<a name="l00013"></a>00013
<a name="l00015"></a>00015
<a name="l00016"></a><a class="code" href="class_a_p___i_m_u___shim.html#aeb4c1f84b7e00ba6112e75dd5c8a346b">00016</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___shim.html#aeb4c1f84b7e00ba6112e75dd5c8a346b">init</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style) {}
<a name="l00017"></a><a class="code" href="class_a_p___i_m_u___shim.html#ae49dccaf4fc2b3aa304a3769295f748e">00017</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___shim.html#ae49dccaf4fc2b3aa304a3769295f748e">init_accel</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style) {};
<a name="l00018"></a><a class="code" href="class_a_p___i_m_u___shim.html#a4e300b540ee13b6c62c996510a8c3ce2">00018</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___shim.html#a4e300b540ee13b6c62c996510a8c3ce2">init_gyro</a>(<a class="code" href="class_i_m_u.html#aa0586fbba61e2a982c8607171a03f5c7">Start_style</a> style) {};
<a name="l00019"></a><a class="code" href="class_a_p___i_m_u___shim.html#a548d3f60980363ada611cf0cb4da382a">00019</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="class_a_p___i_m_u___shim.html#a548d3f60980363ada611cf0cb4da382a">update</a>(<span class="keywordtype">void</span>) {
<a name="l00020"></a>00020 <span class="keywordtype">bool</span> updated = _updated;
<a name="l00021"></a>00021 _updated = <span class="keyword">false</span>;
<a name="l00022"></a>00022 <span class="keywordflow">return</span> updated;
<a name="l00023"></a>00023 }
<a name="l00025"></a>00025
<a name="l00031"></a><a class="code" href="class_a_p___i_m_u___shim.html#a890ea13076d7bfbf0bc72f86260a9141">00031</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___shim.html#a890ea13076d7bfbf0bc72f86260a9141">set_gyro</a>(<a class="code" href="class_vector3.html">Vector3f</a> v) { <a class="code" href="class_i_m_u.html#a33f0574d229be1b24acb99334e174709" title="Most recent gyro reading obtained by update.">_gyro</a> = v; _updated = <span class="keyword">true</span>; }
<a name="l00032"></a>00032
<a name="l00038"></a><a class="code" href="class_a_p___i_m_u___shim.html#a95349a4a1c392d021263839339e2a0a5">00038</a> <span class="keywordtype">void</span> <a class="code" href="class_a_p___i_m_u___shim.html#a95349a4a1c392d021263839339e2a0a5">set_accel</a>(<a class="code" href="class_vector3.html">Vector3f</a> v) { <a class="code" href="class_i_m_u.html#aea1f8061c62fc5212895925157b06c74" title="Most recent accelerometer reading obtained by update.">_accel</a> = v; _updated = <span class="keyword">true</span>; }
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">private</span>:
<a name="l00042"></a>00042 <span class="keywordtype">bool</span> _updated;
<a name="l00043"></a>00043 };
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="preprocessor">#endif</span>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.cpp File Reference</h1> </div>
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<code>#include &quot;<a class="el" href="_a_p___loop_8h_source.html">AP_Loop.h</a>&quot;</code><br/>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.cpp</h1> </div>
<h1>AP_Loop.cpp</h1> </div>
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<h1>AP_Loop.h File Reference</h1> </div>
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<code>#include &quot;<a class="el" href="_a_p___vector_8h_source.html">AP_Vector.h</a>&quot;</code><br/>
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Include dependency graph for AP_Loop.h:</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.h</h1> </div>
<h1>AP_Loop.h</h1> </div>
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<div class="contents">
<a href="_a_p___loop_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
@ -53,48 +54,51 @@
<a name="l00021"></a>00021 <span class="preprocessor"></span>
<a name="l00022"></a>00022 <span class="preprocessor">#include &quot;<a class="code" href="_a_p___vector_8h.html">AP_Vector.h</a>&quot;</span>
<a name="l00023"></a>00023
<a name="l00029"></a>00029 <span class="keyword">namespace </span>apo
<a name="l00030"></a>00030 {
<a name="l00031"></a>00031
<a name="l00032"></a><a class="code" href="classapo_1_1_loop.html">00032</a> <span class="keyword">class </span><a class="code" href="classapo_1_1_loop.html">Loop</a>
<a name="l00033"></a>00033 {
<a name="l00034"></a>00034 <span class="keyword">public</span>:
<a name="l00035"></a><a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">00035</a> <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>() : _fptr(), _data(), _period(), _subLoops(), _timeStamp(), _load(), _dt() {};
<a name="l00036"></a>00036 <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>(<span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>, <span class="keywordtype">void</span> (*fptr)(<span class="keywordtype">void</span> *) = NULL, <span class="keywordtype">void</span> * data = NULL);
<a name="l00037"></a>00037 <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813">update</a>();
<a name="l00038"></a><a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">00038</a> <a class="code" href="class_vector.html">Vector&lt;Loop *&gt;</a> &amp; <a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">subLoops</a>() {
<a name="l00039"></a>00039 <span class="keywordflow">return</span> _subLoops;
<a name="l00040"></a>00040 }
<a name="l00041"></a><a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">00041</a> uint32_t <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>() {
<a name="l00042"></a>00042 <span class="keywordflow">return</span> 1.0e6/_period;
<a name="l00043"></a>00043 }
<a name="l00044"></a><a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">00044</a> <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">frequency</a>(<span class="keywordtype">float</span> frequency) {
<a name="l00045"></a>00045 _period = 1e6/frequency;
<a name="l00046"></a>00046 }
<a name="l00047"></a><a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">00047</a> uint32_t <a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">timeStamp</a>() {
<a name="l00048"></a>00048 <span class="keywordflow">return</span> _timeStamp;
<a name="l00049"></a>00049 }
<a name="l00050"></a><a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">00050</a> <span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">dt</a>() {
<a name="l00051"></a>00051 <span class="keywordflow">return</span> _dt;
<a name="l00052"></a>00052 }
<a name="l00053"></a><a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">00053</a> uint8_t <a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">load</a>() {
<a name="l00054"></a>00054 <span class="keywordflow">return</span> _load;
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056 <span class="keyword">private</span>:
<a name="l00057"></a>00057 void (*_fptr)(<span class="keywordtype">void</span> *);
<a name="l00058"></a>00058 <span class="keywordtype">void</span> * _data;
<a name="l00059"></a>00059 uint32_t _period;
<a name="l00060"></a>00060 <a class="code" href="class_vector.html">Vector&lt;Loop *&gt;</a> _subLoops;
<a name="l00061"></a>00061 uint32_t _timeStamp;
<a name="l00062"></a>00062 uint8_t _load;
<a name="l00063"></a>00063 <span class="keywordtype">float</span> _dt;
<a name="l00064"></a>00064 };
<a name="l00065"></a>00065
<a name="l00066"></a>00066 } <span class="comment">// apo</span>
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="preprocessor">#endif</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070 <span class="comment">// vim:ts=4:sw=4:expandtab</span>
<a name="l00025"></a>00025 <span class="comment">// Start of apo namespace</span>
<a name="l00026"></a>00026 <span class="comment">// The above functions must be in the global</span>
<a name="l00027"></a>00027 <span class="comment">// namespace for c++ to function properly</span>
<a name="l00028"></a>00028 <span class="keyword">namespace </span>apo
<a name="l00029"></a>00029 {
<a name="l00030"></a>00030
<a name="l00031"></a><a class="code" href="classapo_1_1_loop.html">00031</a> <span class="keyword">class </span><a class="code" href="classapo_1_1_loop.html">Loop</a>
<a name="l00032"></a>00032 {
<a name="l00033"></a>00033 <span class="keyword">public</span>:
<a name="l00034"></a><a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">00034</a> <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>() : _fptr(), _data(), _period(), _subLoops(), _timeStamp(), _load(), _dt() {};
<a name="l00035"></a>00035 <a class="code" href="classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24">Loop</a>(<span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>, <span class="keywordtype">void</span> (*fptr)(<span class="keywordtype">void</span> *) = NULL, <span class="keywordtype">void</span> * data = NULL);
<a name="l00036"></a>00036 <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813">update</a>();
<a name="l00037"></a><a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">00037</a> <a class="code" href="class_vector.html">Vector&lt;Loop *&gt;</a> &amp; <a class="code" href="classapo_1_1_loop.html#a35a3d49da20cbad8a4dc863228632a57">subLoops</a>() {
<a name="l00038"></a>00038 <span class="keywordflow">return</span> _subLoops;
<a name="l00039"></a>00039 }
<a name="l00040"></a><a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">00040</a> uint32_t <a class="code" href="classapo_1_1_loop.html#a6b88aae6e3f55895037ce5538f36076d">frequency</a>() {
<a name="l00041"></a>00041 <span class="keywordflow">return</span> 1.0e6/_period;
<a name="l00042"></a>00042 }
<a name="l00043"></a><a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">00043</a> <span class="keywordtype">void</span> <a class="code" href="classapo_1_1_loop.html#aec93940b1c7ca50ebda47b7326c339ba">frequency</a>(<span class="keywordtype">float</span> frequency) {
<a name="l00044"></a>00044 _period = 1e6/frequency;
<a name="l00045"></a>00045 }
<a name="l00046"></a><a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">00046</a> uint32_t <a class="code" href="classapo_1_1_loop.html#af6f23eac39d89deb194d3e3f5cdd8df1">timeStamp</a>() {
<a name="l00047"></a>00047 <span class="keywordflow">return</span> _timeStamp;
<a name="l00048"></a>00048 }
<a name="l00049"></a><a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">00049</a> <span class="keywordtype">float</span> <a class="code" href="classapo_1_1_loop.html#a0dd58e809ffa1104cdd9e008918886aa">dt</a>() {
<a name="l00050"></a>00050 <span class="keywordflow">return</span> _dt;
<a name="l00051"></a>00051 }
<a name="l00052"></a><a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">00052</a> uint8_t <a class="code" href="classapo_1_1_loop.html#af3017e1bf118c134e550cdda81c54d43">load</a>() {
<a name="l00053"></a>00053 <span class="keywordflow">return</span> _load;
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055 <span class="keyword">private</span>:
<a name="l00056"></a>00056 void (*_fptr)(<span class="keywordtype">void</span> *);
<a name="l00057"></a>00057 <span class="keywordtype">void</span> * _data;
<a name="l00058"></a>00058 uint32_t _period;
<a name="l00059"></a>00059 <a class="code" href="class_vector.html">Vector&lt;Loop *&gt;</a> _subLoops;
<a name="l00060"></a>00060 uint32_t _timeStamp;
<a name="l00061"></a>00061 uint8_t _load;
<a name="l00062"></a>00062 <span class="keywordtype">float</span> _dt;
<a name="l00063"></a>00063 };
<a name="l00064"></a>00064
<a name="l00065"></a>00065 } <span class="comment">// apo</span>
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <span class="preprocessor">#endif</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00069"></a>00069 <span class="comment">// vim:ts=4:sw=4:expandtab</span>
</pre></div></div>
</div>
<hr class="footer"/><address class="footer"><small>

17
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Math/AP_Math.h File Reference</title>
<title>ArduPilot Libraries: AP_Math.h File Reference</title>
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@ -14,6 +14,7 @@
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@ -28,7 +29,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Math/AP_Math.h File Reference</h1> </div>
<h1>AP_Math.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="vector2_8h_source.html">vector2.h</a>&quot;</code><br/>
@ -37,16 +38,16 @@
<div class="dynheader">
Include dependency graph for AP_Math.h:</div>
<div class="dyncontent">
<div class="center"><img src="_a_p___math_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___math_2_a_p___math_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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<area shape="rect" id="node3" href="_compass_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/Compass.h" alt="" coords="517,83,931,112"/><area shape="rect" id="node9" href="_a_p___d_c_m___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h" alt="" coords="557,392,960,421"/><area shape="rect" id="node11" href="_a_p___d_c_m_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.h" alt="" coords="13,469,389,499"/><area shape="rect" id="node28" href="_a_p___i_m_u_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_IMU/AP_IMU.h" alt="" coords="53,315,419,344"/><area shape="rect" id="node5" href="_a_p___compass___h_m_c5843_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HMC5843.h" alt="" coords="471,160,977,189"/><area shape="rect" id="node18" href="_a_p___compass___h_i_l_8h.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.h" alt="" coords="783,237,1247,267"/><area shape="rect" id="node7" href="_a_p___compass_8h.html" title="Catch&#45;all header that defines all supported compass classes." alt="" coords="443,315,880,344"/><area shape="rect" id="node23" href="_a_p___compass___h_m_c5843_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HMC5843.cpp" alt="" coords="188,237,708,267"/><area shape="rect" id="node15" href="_a_p___d_c_m___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.cpp" alt="" coords="549,469,968,499"/><area shape="rect" id="node13" href="_a_p___d_c_m_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM.cpp" alt="" coords="5,547,397,576"/><area shape="rect" id="node21" href="_a_p___compass___h_i_l_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_Compass/AP_Compass_HIL.cpp" alt="" coords="904,315,1381,344"/><area shape="rect" id="node32" href="_a_p___i_m_u_8cpp.html" title="/home/jgoppert/Projects/ap/libraries/AP_IMU/AP_IMU.cpp" alt="" coords="104,392,483,421"/></map>
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<area shape="rect" id="node3" href="_compass_8h.html" title="Compass.h" alt="" coords="364,83,457,112"/><area shape="rect" id="node9" href="_a_p___d_c_m___h_i_l_8h.html" title="AP_DCM_HIL.h" alt="" coords="537,392,652,421"/><area shape="rect" id="node11" href="_a_p___d_c_m_8h.html" title="AP_DCM.h" alt="" coords="349,469,437,499"/><area shape="rect" id="node28" href="_i_m_u_8h.html" title="Abstract class defining the interface to a real or virtual Inertial Measurement Unit." alt="" coords="532,83,591,112"/><area shape="rect" id="node30" href="_a_p___i_m_u___oilpan_8h.html" title="IMU driver for the APM oilpan." alt="" coords="497,160,625,189"/><area shape="rect" id="node5" href="_a_p___compass___h_m_c5843_8h.html" title="AP_Compass_HMC5843.h" alt="" coords="188,160,375,189"/><area shape="rect" id="node18" href="_a_p___compass___h_i_l_8h.html" title="AP_Compass_HIL.h" alt="" coords="320,237,464,267"/><area shape="rect" id="node7" href="_a_p___compass_8h.html" title="Catch&#45;all header that defines all supported compass classes." alt="" coords="249,315,367,344"/><area shape="rect" id="node23" href="_a_p___compass___h_m_c5843_8cpp.html" title="AP_Compass_HMC5843.cpp" alt="" coords="43,237,245,267"/><area shape="rect" id="node15" href="_a_p___d_c_m___h_i_l_8cpp.html" title="AP_DCM_HIL.cpp" alt="" coords="529,469,660,499"/><area shape="rect" id="node13" href="_a_p___d_c_m_8cpp.html" title="AP_DCM.cpp" alt="" coords="343,547,444,576"/><area shape="rect" id="node21" href="_a_p___compass___h_i_l_8cpp.html" title="AP_Compass_HIL.cpp" alt="" coords="391,315,551,344"/><area shape="rect" id="node32" href="_a_p___i_m_u_8h.html" title="Catch&#45;all header that defines all supported IMU classes." alt="" coords="575,315,657,344"/><area shape="rect" id="node36" href="_a_p___i_m_u___oilpan_8cpp.html" title="AP_IMU_Oilpan.cpp" alt="" coords="488,237,632,267"/></map>
</div>
<p><a href="_a_p___math_8h_source.html">Go to the source code of this file.</a></p>

5
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@ -2,7 +2,7 @@
<html xmlns="http://www.w3.org/1999/xhtml">
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@ -14,6 +14,7 @@
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@ -27,7 +28,7 @@
</div>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Math/AP_Math.h</h1> </div>
<h1>AP_Math.h</h1> </div>
</div>
<div class="contents">
<a href="_a_p___math_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-</span>

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@ -2,7 +2,7 @@
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@ -32,7 +33,7 @@
<a href="#func-members">Functions</a> &#124;
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<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_RC/AP_RC.cpp File Reference</h1> </div>
<h1>AP_RC.cpp File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &quot;<a class="el" href="_a_p___r_c_8h_source.html">AP_RC.h</a>&quot;</code><br/>
@ -41,9 +42,9 @@
<div class="dynheader">
Include dependency graph for AP_RC.cpp:</div>
<div class="dyncontent">
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<area shape="rect" id="node3" href="_a_p___r_c_8h.html" title="AP_RC.h" alt="" coords="11,83,85,112"/><area shape="rect" id="node7" href="_w_program_8h.html" title="WProgram.h" alt="" coords="109,83,208,112"/></map>
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<p><a href="_a_p___r_c_8cpp_source.html">Go to the source code of this file.</a></p>

5
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@ -2,7 +2,7 @@
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_RC/AP_RC.cpp Source File</title>
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@ -27,7 +28,7 @@
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<h1>/home/jgoppert/Projects/ap/libraries/AP_RC/AP_RC.cpp</h1> </div>
<h1>AP_RC.cpp</h1> </div>
</div>
<div class="contents">
<a href="_a_p___r_c_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>

15
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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_RC/AP_RC.h File Reference</title>
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@ -30,23 +31,23 @@
<div class="summary">
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<div class="headertitle">
<h1>/home/jgoppert/Projects/ap/libraries/AP_RC/AP_RC.h File Reference</h1> </div>
<h1>AP_RC.h File Reference</h1> </div>
</div>
<div class="contents">
<code>#include &lt;inttypes.h&gt;</code><br/>
<div class="dynheader">
Include dependency graph for AP_RC.h:</div>
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<div class="center"><img src="_a_p___r_c_8h__incl.png" border="0" usemap="#_2home_2jgoppert_2_projects_2ap_2libraries_2_a_p___r_c_2_a_p___r_c_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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