mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.3 KiB
C++
47 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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// UAVCAN GPS driver
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//
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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class AP_GPS_UAVCAN : public AP_GPS_Backend {
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public:
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AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
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~AP_GPS_UAVCAN() override;
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bool read() override;
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void set_uavcan_manager(uint8_t mgr);
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// This method is called from UAVCAN thread
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void handle_gnss_msg(const AP_GPS::GPS_State &msg) override;
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const char *name() const override { return "UAVCAN"; }
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private:
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bool _new_data;
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uint8_t _manager;
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AP_GPS::GPS_State _interm_state;
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AP_HAL::Semaphore *_sem_gnss;
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};
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