ardupilot/libraries/AP_GPS/AP_GPS_ExternalAHRS.h

48 lines
1.3 KiB
C++

/*
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/>.
*/
//
// ExternalAHRS GPS driver which accepts gps position data from an external AHRS unit
//
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#if HAL_EXTERNAL_AHRS_ENABLED
class AP_GPS_ExternalAHRS : public AP_GPS_Backend
{
public:
using AP_GPS_Backend::AP_GPS_Backend;
bool read() override;
void handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt) override;
const char *name() const override { return "ExternalAHRS"; }
bool get_lag(float &lag_sec) const override;
private:
bool new_data;
};
#endif // HAL_EXTERNAL_AHRS_ENABLED