mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.3 KiB
C++
55 lines
1.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simulate serial VectorNav AHRS
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Usage example:
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SERIAL5_PROTOCOL = 36
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AHRS_EKF_TYPE = 11
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EAHRS_TYPE=1
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sim_vehicle.py -D --console --map -A --serial5=sim:VectorNav
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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namespace SITL {
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class VectorNav : public SerialDevice {
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public:
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VectorNav();
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// update state
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void update(void);
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private:
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uint32_t last_imu_pkt_us;
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uint32_t last_ekf_pkt_us;
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uint32_t last_gnss_pkt_us;
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void send_imu_packet();
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void send_ins_ekf_packet();
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void send_ins_gnss_packet();
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void nmea_printf(const char *fmt, ...);
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};
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}
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