ardupilot/libraries/AP_GPS/AP_GPS_PX4.h

42 lines
1.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//
// GPS proxy driver for APM on PX4 platforms
// Code by Holger Steinhaus
//
#ifndef __AP_GPS_PX4_H__
#define __AP_GPS_PX4_H__
#include <AP_HAL.h>
#include <AP_GPS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <modules/uORB/topics/vehicle_gps_position.h>
class AP_GPS_PX4 : public AP_GPS_Backend {
public:
AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
bool read();
private:
int _gps_sub;
struct vehicle_gps_position_s _gps_pos;
};
#endif // CONFIG_HAL_BOARD
#endif // AP_GPS_PX4_H