mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.1 KiB
C++
50 lines
1.1 KiB
C++
#ifndef GPS_UBLOX_h
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#define GPS_UBLOX_h
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#include <inttypes.h>
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#define UBX_MAXPAYLOAD 60
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class GPS_UBLOX_Class
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{
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private:
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// Internal variables
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uint8_t ck_a; // Packet checksum
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uint8_t ck_b;
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uint8_t UBX_step;
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uint8_t UBX_class;
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uint8_t UBX_id;
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uint8_t UBX_payload_length_hi;
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uint8_t UBX_payload_length_lo;
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uint8_t UBX_payload_counter;
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uint8_t UBX_buffer[UBX_MAXPAYLOAD];
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uint8_t UBX_ck_a;
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uint8_t UBX_ck_b;
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long GPS_timer;
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long UBX_ecefVZ;
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void parse_ubx_gps();
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void ubx_checksum(unsigned char ubx_data);
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long join_4_bytes(unsigned char Buffer[]);
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public:
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// Methods
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GPS_UBLOX_Class();
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void Init();
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void Read();
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// Properties
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long Time; //GPS Millisecond Time of Week
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long Lattitude; // Geographic coordinates
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long Longitude;
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long Altitude;
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long Ground_Speed;
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long Speed_3d; //Speed (3-D)
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long Ground_Course;
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uint8_t NumSats; // Number of visible satelites
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uint8_t Fix; // 1:GPS FIX 0:No FIX (normal logic)
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uint8_t NewData; // 1:New GPS Data
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uint8_t PrintErrors; // 1: To Print GPS Errors (for debug)
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};
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extern GPS_UBLOX_Class GPS;
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#endif |