target_pos.h

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/*
 * Copyright (C) 2021 Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef TARGET_POS_H
#define TARGET_POS_H
 
#include "std.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
 
struct target_pos_t {
  bool valid;               
  uint32_t recv_time;       
  uint32_t tow;             
  struct LlaCoor_i lla;     
  float ground_speed;       
  float course;             
  float heading;            
  float climb;              
};
 
struct target_offset_t {
  float heading;            
  float distance;           
  float height;             
};
 
struct target_t {
  struct target_pos_t pos;                  
  struct target_offset_t offset;            
  uint32_t target_pos_timeout;              
  uint32_t rtk_timeout;                     
  bool integrate_xy;                        
  bool integrate_z;                         
  struct LlaCoor_i gps_lla;                 
};
 
extern struct target_t target;
extern void target_pos_init(void);
extern void target_parse_target_pos(uint8_t *buf);
extern bool target_get_pos(struct NedCoor_f *pos, float *heading);
extern bool target_get_vel(struct NedCoor_f *vel);
extern bool target_pos_set_current_offset(float unk);
 
#endif