mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.0 KiB
C
36 lines
1.0 KiB
C
#ifndef _DESKTOP_H
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#define _DESKTOP_H
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#include <unistd.h>
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#include <sys/time.h>
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struct desktop_info {
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bool slider; // slider switch state, True means CLI mode
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struct timeval sketch_start_time;
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bool quadcopter; // use quadcopter outputs
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unsigned framerate;
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float initial_height;
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bool console_mode;
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};
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extern struct desktop_info desktop_state;
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void desktop_serial_select_setup(fd_set *fds, int *fd_high);
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void sitl_input(void);
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void sitl_setup(void);
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int sitl_gps_pipe(void);
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ssize_t sitl_gps_read(int fd, void *buf, size_t count);
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void sitl_update_compass(float roll, float pitch, float yaw);
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void sitl_update_gps(double latitude, double longitude, float altitude,
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double speedN, double speedE, bool have_lock);
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void sitl_update_adc(float roll, float pitch, float yaw,
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double rollRate, double pitchRate, double yawRate,
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double xAccel, double yAccel, double zAccel,
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float airspeed);
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void sitl_setup_adc(void);
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void sitl_update_barometer(float altitude);
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void sitl_simstate_send(uint8_t chan);
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#endif
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