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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
35 lines
703 B
C++
35 lines
703 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef AP_GPS_NMEA_h
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#define AP_GPS_NMEA_h
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#include <GPS.h>
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#define GPS_BUFFERSIZE 120
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class AP_GPS_NMEA : public GPS
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{
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public:
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// Methods
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AP_GPS_NMEA(Stream *s);
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void init();
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void update();
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// Properties
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uint8_t quality; // GPS Signal quality
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int HDOP; // HDOP
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private:
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// Internal variables
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uint8_t GPS_checksum;
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uint8_t GPS_checksum_calc;
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char buffer[GPS_BUFFERSIZE];
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int bufferidx;
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void parse_nmea_gps(void);
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uint8_t parseHex(char c);
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long parsedecimal(char *str,uint8_t num_car);
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long parsenumber(char *str,uint8_t numdec);
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};
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#endif
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