AP_GPS_MTK Class Reference

#include <AP_GPS_MTK.h>

Inheritance diagram for AP_GPS_MTK:

Collaboration diagram for AP_GPS_MTK:

Classes
struct	diyd_mtk_msg
union	PACKED

Public Member Functions
	AP_GPS_MTK (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
bool	read (void)
const char *	name () const override
Public Member Functions inherited from AP_GPS_Backend
	AP_GPS_Backend (AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port)
virtual	~AP_GPS_Backend (void)
virtual AP_GPS::GPS_Status	highest_supported_status (void)
virtual bool	is_configured (void)
virtual void	inject_data (const uint8_t *data, uint16_t len)
virtual bool	supports_mavlink_gps_rtk_message ()
virtual void	send_mavlink_gps_rtk (mavlink_channel_t chan)
virtual void	broadcast_configuration_failure_reason (void) const
virtual void	handle_msg (const mavlink_message_t *msg)
virtual void	handle_gnss_msg (const AP_GPS::GPS_State &msg)
virtual bool	get_lag (float &lag) const
virtual bool	is_healthy (void) const
void	broadcast_gps_type () const
virtual void	Write_DataFlash_Log_Startup_messages () const
virtual bool	prepare_for_arming (void)

Static Public Member Functions
static bool	_detect (struct MTK_detect_state &state, uint8_t data)
static void	send_init_blob (uint8_t instance, AP_GPS &gps)

Private Types
enum	diyd_mtk_fix_type { FIX_NONE = 1, FIX_2D = 2, FIX_3D = 3 }
enum	diyd_mtk_protocol_bytes { PREAMBLE1 = 0xb5, PREAMBLE2 = 0x62, MESSAGE_CLASS = 1, MESSAGE_ID = 5 }

Private Member Functions
void	_parse_gps ()

Private Attributes
uint8_t	_ck_a
uint8_t	_ck_b
uint8_t	_step
uint8_t	_payload_counter
union AP_GPS_MTK::PACKED	_buffer

Static Private Attributes
static const char	_initialisation_blob [] = MTK_OUTPUT_5HZ SBAS_ON WAAS_ON MTK_NAVTHRES_OFF

Additional Inherited Members
Protected Member Functions inherited from AP_GPS_Backend
int32_t	swap_int32 (int32_t v) const
int16_t	swap_int16 (int16_t v) const
void	fill_3d_velocity (void)
void	make_gps_time (uint32_t bcd_date, uint32_t bcd_milliseconds)
void	_detection_message (char *buffer, uint8_t buflen) const
bool	should_df_log () const
Protected Attributes inherited from AP_GPS_Backend
AP_HAL::UARTDriver *	port
	UART we are attached to. More...
AP_GPS &	gps
	access to frontend (for parameters) More...
AP_GPS::GPS_State &	state
	public state for this instance More...

Detailed Description

Definition at line 30 of file AP_GPS_MTK.h.

Member Enumeration Documentation

diyd_mtk_fix_type

enum AP_GPS_MTK::diyd_mtk_fix_type

private

Enumerator
FIX_NONE
FIX_2D
FIX_3D

Definition at line 52 of file AP_GPS_MTK.h.

diyd_mtk_protocol_bytes

enum AP_GPS_MTK::diyd_mtk_protocol_bytes

private

Enumerator
PREAMBLE1
PREAMBLE2
MESSAGE_CLASS
MESSAGE_ID

Definition at line 58 of file AP_GPS_MTK.h.

Constructor & Destructor Documentation

AP_GPS_MTK()

AP_GPS_MTK::AP_GPS_MTK	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 30 of file AP_GPS_MTK.cpp.

Here is the call graph for this function:

Member Function Documentation

_detect()

bool AP_GPS_MTK::_detect ( struct MTK_detect_state &  state, uint8_t  data  )

static

Definition at line 170 of file AP_GPS_MTK.cpp.

Referenced by AP_GPS::detect_instance().

Here is the caller graph for this function:

_parse_gps()

void AP_GPS_MTK::_parse_gps ( )

private

name()

const char* AP_GPS_MTK::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 39 of file AP_GPS_MTK.h.

read()

bool AP_GPS_MTK::read ( void  )

virtual

Implements AP_GPS_Backend.

Definition at line 59 of file AP_GPS_MTK.cpp.

Here is the call graph for this function:

send_init_blob()

void AP_GPS_MTK::send_init_blob ( uint8_t  instance, AP_GPS &  gps  )

static

Definition at line 41 of file AP_GPS_MTK.cpp.

Referenced by AP_GPS_MTK19::AP_GPS_MTK19().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

_buffer

union AP_GPS_MTK::PACKED AP_GPS_MTK::_buffer

private

Referenced by read().

_ck_a

uint8_t AP_GPS_MTK::_ck_a

private

Definition at line 66 of file AP_GPS_MTK.h.

Referenced by read().

_ck_b

uint8_t AP_GPS_MTK::_ck_b

private

Definition at line 67 of file AP_GPS_MTK.h.

Referenced by read().

_initialisation_blob

const char AP_GPS_MTK::_initialisation_blob = MTK_OUTPUT_5HZ SBAS_ON WAAS_ON MTK_NAVTHRES_OFF

staticprivate

Definition at line 82 of file AP_GPS_MTK.h.

Referenced by AP_GPS_MTK(), and send_init_blob().

_payload_counter

uint8_t AP_GPS_MTK::_payload_counter

private

Definition at line 71 of file AP_GPS_MTK.h.

Referenced by read().

_step

uint8_t AP_GPS_MTK::_step

private

Definition at line 70 of file AP_GPS_MTK.h.

Referenced by read().

---

The documentation for this class was generated from the following files:

• libraries/AP_GPS/AP_GPS_MTK.h
• libraries/AP_GPS/AP_GPS_MTK.cpp