mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.3 KiB
C++
51 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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// Mavlink GPS driver which accepts gps position data from an external
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// companion computer
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//
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include "AP_GPS.h"
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#include "GPS_Backend.h"
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#ifndef AP_GPS_MAV_ENABLED
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#define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#if AP_GPS_MAV_ENABLED
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class AP_GPS_MAV : public AP_GPS_Backend {
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public:
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using AP_GPS_Backend::AP_GPS_Backend;
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bool read() override;
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static bool _detect(struct MAV_detect_state &state, uint8_t data);
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void handle_msg(const mavlink_message_t &msg) override;
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const char *name() const override { return "MAV"; }
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private:
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bool _new_data;
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uint32_t first_week;
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JitterCorrection jitter{2000};
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};
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#endif
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