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https://github.com/ArduPilot/ardupilot
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96a80f1c66
Teach AP_GPS about FastSerial (in the few places it needs to know) and about Stream everywhere else. Do some minor code cleanup. Tested with Mega and uBlox. Some issues (e.g. reporting 0 satelites) remain. git-svn-id: https://arducopter.googlecode.com/svn/trunk@404 f9c3cf11-9bcb-44bc-f272-b75c42450872
52 lines
1.1 KiB
C++
52 lines
1.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef AP_GPS_MTK_h
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#define AP_GPS_MTK_h
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#include <GPS.h>
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#define MAXPAYLOAD 32
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#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n"
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#define MTK_SET_NMEA "$PGCMD,16,1,1,1,1,1*6B\r\n"
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#define MTK_OUTPUT_1HZ "$PMTK220,1000*1F\r\n"
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#define MTK_OUTPUT_2HZ "$PMTK220,500*2B\r\n"
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#define MTK_OUTPUT_4HZ "$PMTK220,250*29\r\n"
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#define MTK_OTUPUT_5HZ "$PMTK220,200*2C\r\n"
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#define MTK_OUTPUT_10HZ "$PMTK220,100*2F\r\n"
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#define MTK_BAUD_RATE_38400 "$PMTK251,38400*27\r\n"
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#define SBAS_ON "$PMTK313,1*2E\r\n"
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#define SBAS_OFF "$PMTK313,0*2F\r\n"
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#define WAAS_ON "$PSRF151,1*3F\r\n"
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#define WAAS_OFF "$PSRF151,0*3E\r\n"
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class AP_GPS_MTK : public GPS
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{
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public:
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// Methods
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AP_GPS_MTK(Stream *s);
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void init();
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void update();
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private:
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// Packet checksums
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uint8_t ck_a;
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uint8_t ck_b;
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uint8_t GPS_ck_a;
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uint8_t GPS_ck_b;
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uint8_t step;
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uint8_t msg_class;
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uint8_t id;
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uint8_t payload_length_hi;
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uint8_t payload_length_lo;
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uint8_t payload_counter;
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uint8_t buffer[MAXPAYLOAD];
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void parse_gps();
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void checksum(unsigned char data);
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};
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#endif
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