Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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gps_datalink.h
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1 /*
2  * Copyright (C) 2014 Freek van Tienen
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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14  * GNU General Public License for more details.
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20  */
21 
30 #ifndef GPS_DATALINK_H
31 #define GPS_DATALINK_H
32 
33 #include "std.h"
34 #define GPS_NB_CHANNELS 0
35 
36 extern bool_t gps_available;
37 extern void parse_gps_datalink(uint8_t numsv, int32_t ecef_x, int32_t ecef_y, int32_t ecef_z, int32_t lat, int32_t lon, int32_t alt,
38  int32_t hmsl, int32_t ecef_xd, int32_t ecef_yd, int32_t ecef_zd, uint32_t tow, int32_t course);
39 
40 
41 #define GpsEvent(_sol_available_callback) { \
42  if (gps_available) { \
43  gps.last_msg_ticks = sys_time.nb_sec_rem; \
44  gps.last_msg_time = sys_time.nb_sec; \
45  if (gps.fix == GPS_FIX_3D) { \
46  gps.last_3dfix_ticks = sys_time.nb_sec_rem; \
47  gps.last_3dfix_time = sys_time.nb_sec; \
48  } \
49  _sol_available_callback(); \
50  gps_available = FALSE; \
51  } \
52  }
53 
54 
55 #endif /* GPS_DATALINK_H */
unsigned long uint32_t
Definition: types.h:18
signed long int32_t
Definition: types.h:19
unsigned char uint8_t
Definition: types.h:14
float alt
in meters above WGS84 reference ellipsoid