mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.1 KiB
C++
70 lines
2.1 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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class AP_DEVO_Telem {
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public:
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//constructor
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AP_DEVO_Telem(const AP_AHRS &ahrs);
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/* Do not allow copies */
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AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete;
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AP_DEVO_Telem &operator=(const AP_DEVO_Telem&) = delete;
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// init - perform require initialisation including detecting which protocol to use
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void init(const AP_SerialManager& serial_manager);
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// update flight control mode. The control mode is vehicle type specific
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void update_control_mode(uint8_t mode)
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{
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_control_mode = mode;
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}
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private:
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typedef struct PACKED {
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uint8_t header; ///< 0xAA for a valid packet
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int32_t lon;
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int32_t lat;
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int32_t alt;
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int16_t speed;
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int16_t temp;
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int16_t volt;
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uint8_t checksum8;
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} DevoMPacket;
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uint32_t gpsDdToDmsFormat(float ddm);
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// tick - main call to send updates to transmitter (called by scheduler at 1kHz)
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void tick(void);
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// send_frames - sends updates down telemetry link
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void send_frames(uint8_t control_mode);
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DevoMPacket devoPacket;
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uint8_t _control_mode;
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const AP_AHRS &_ahrs; // reference to attitude estimate
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AP_HAL::UARTDriver *_port; // UART used to send data to receiver
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uint32_t _last_frame_ms;
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};
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