ardupilot/libraries/AP_Devo_Telem/AP_Devo_Telem.h

70 lines
2.1 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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_SerialManager/AP_SerialManager.h>
class AP_DEVO_Telem {
public:
//constructor
AP_DEVO_Telem(const AP_AHRS &ahrs);
/* Do not allow copies */
AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete;
AP_DEVO_Telem &operator=(const AP_DEVO_Telem&) = delete;
// init - perform require initialisation including detecting which protocol to use
void init(const AP_SerialManager& serial_manager);
// update flight control mode. The control mode is vehicle type specific
void update_control_mode(uint8_t mode)
{
_control_mode = mode;
}
private:
typedef struct PACKED {
uint8_t header; ///< 0xAA for a valid packet
int32_t lon;
int32_t lat;
int32_t alt;
int16_t speed;
int16_t temp;
int16_t volt;
uint8_t checksum8;
} DevoMPacket;
uint32_t gpsDdToDmsFormat(float ddm);
// tick - main call to send updates to transmitter (called by scheduler at 1kHz)
void tick(void);
// send_frames - sends updates down telemetry link
void send_frames(uint8_t control_mode);
DevoMPacket devoPacket;
uint8_t _control_mode;
const AP_AHRS &_ahrs; // reference to attitude estimate
AP_HAL::UARTDriver *_port; // UART used to send data to receiver
uint32_t _last_frame_ms;
};