AP_Devo_Telem.h

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/*
   This program 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 3 of the License, or
   (at your option) any later version.

   This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#pragma once

#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_SerialManager/AP_SerialManager.h>

class AP_DEVO_Telem {
public:
    //constructor
    AP_DEVO_Telem(const AP_AHRS &ahrs);

    /* Do not allow copies */
    AP_DEVO_Telem(const AP_DEVO_Telem &other) = delete;
    AP_DEVO_Telem &operator=(const AP_DEVO_Telem&) = delete;

    // init - perform require initialisation including detecting which protocol to use
    void init(const AP_SerialManager& serial_manager);

    // update flight control mode. The control mode is vehicle type specific
    void update_control_mode(uint8_t mode)
    {
        _control_mode = mode;
    }


private:
    typedef struct PACKED {
        uint8_t header;                                
        int32_t lon;
        int32_t lat;
        int32_t alt;
        int16_t speed;
        int16_t temp;
        int16_t volt;
        uint8_t checksum8;
    } DevoMPacket;

    uint32_t gpsDdToDmsFormat(float ddm);

    // tick - main call to send updates to transmitter (called by scheduler at 1kHz)
    void tick(void);

    // send_frames - sends updates down telemetry link
    void send_frames(uint8_t control_mode);

    DevoMPacket devoPacket;

    uint8_t _control_mode;

    const AP_AHRS &_ahrs;                   // reference to attitude estimate
    AP_HAL::UARTDriver *_port;              // UART used to send data to receiver
    uint32_t _last_frame_ms;

};