Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : //
      17             : //  ExternalAHRS GPS driver which accepts gps position data from an external AHRS unit
      18             : //
      19             : #pragma once
      20             : 
      21             : #include <AP_Common/AP_Common.h>
      22             : #include <AP_HAL/AP_HAL_Boards.h>
      23             : 
      24             : #include "AP_GPS.h"
      25             : #include "GPS_Backend.h"
      26             : 
      27             : #if AP_EXTERNAL_AHRS_ENABLED
      28             : 
      29             : class AP_GPS_ExternalAHRS : public AP_GPS_Backend
      30             : {
      31             : public:
      32             : 
      33             :     using AP_GPS_Backend::AP_GPS_Backend;
      34             : 
      35             :     bool read() override;
      36             :     void handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt) override;
      37             : 
      38         183 :     const char *name() const override { return "ExternalAHRS"; }
      39             : 
      40             :     bool get_lag(float &lag_sec) const override;
      41             : 
      42             : private:
      43             :     bool new_data;
      44             : };
      45             : 
      46             : #endif // AP_EXTERNAL_AHRS_ENABLED
      47             :