mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.5 KiB
C++
55 lines
1.5 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifndef AP_LTM_TELEM_ENABLED
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#define AP_LTM_TELEM_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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#if AP_LTM_TELEM_ENABLED
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static const uint8_t LTM_GFRAME_SIZE = 18;
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static const uint8_t LTM_AFRAME_SIZE = 10;
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static const uint8_t LTM_SFRAME_SIZE = 11;
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class AP_LTM_Telem {
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public:
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// Constructor
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AP_LTM_Telem() {}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_LTM_Telem);
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// init - perform required initialisation
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void init();
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private:
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AP_HAL::UARTDriver *_port; // UART
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uint8_t _ltm_scheduler;
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uint32_t _last_frame_ms;
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void send_Gframe(void);
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void send_Sframe(void);
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void send_Aframe(void);
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void generate_LTM(void);
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void send_LTM(uint8_t lt_packet[], uint8_t lt_packet_size);
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void tick(void); // tick - main call to send updates to transmitter (called by scheduler at 1kHz)
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};
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#endif
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