mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.4 KiB
C++
54 lines
1.4 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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Author: Francisco Ferreira
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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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#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE
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#include <AP_SerialManager/AP_SerialManager.h>
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class AP_NMEA_Output {
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public:
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static AP_NMEA_Output* probe();
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/* Do not allow copies */
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AP_NMEA_Output(const AP_NMEA_Output &other) = delete;
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AP_NMEA_Output &operator=(const AP_NMEA_Output&) = delete;
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void update();
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private:
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AP_NMEA_Output();
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uint8_t _nmea_checksum(const char *str);
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static AP_NMEA_Output* _singleton;
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uint8_t _num_outputs;
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AP_HAL::UARTDriver* _uart[SERIALMANAGER_NUM_PORTS];
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uint32_t _last_run_ms;
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};
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#endif // !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE
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