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             : //  Mavlink GPS driver which accepts gps position data from an external
      18             : //  companion computer
      19             : //
      20             : #pragma once
      21             : 
      22             : #include "AP_GPS_config.h"
      23             : 
      24             : #if AP_GPS_MAV_ENABLED
      25             : 
      26             : #include <AP_HAL/AP_HAL_Boards.h>
      27             : 
      28             : #include "AP_GPS.h"
      29             : #include "GPS_Backend.h"
      30             : 
      31             : class AP_GPS_MAV : public AP_GPS_Backend {
      32             : public:
      33             : 
      34             :     using AP_GPS_Backend::AP_GPS_Backend;
      35             : 
      36             :     bool read() override;
      37             : 
      38             :     static bool _detect(struct MAV_detect_state &state, uint8_t data);
      39             : 
      40             :     void handle_msg(const mavlink_message_t &msg) override;
      41             : 
      42           3 :     const char *name() const override { return "MAV"; }
      43             : 
      44             : private:
      45             :     bool _new_data;
      46             :     uint32_t first_week;
      47             :     JitterCorrection jitter{2000};
      48             : };
      49             : 
      50             : #endif  // AP_GPS_MAV_ENABLED