AP_GPS_MTK19 Class Reference

#include <AP_GPS_MTK19.h>

Inheritance diagram for AP_GPS_MTK19:

Collaboration diagram for AP_GPS_MTK19:

Classes
struct	diyd_mtk_msg

Public Member Functions
	AP_GPS_MTK19 (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 MTK19_detect_state &state, uint8_t data)

Private Types
enum	diyd_mtk_fix_type {   FIX_NONE = 1, FIX_2D = 2, FIX_3D = 3, FIX_2D_SBAS = 6,   FIX_3D_SBAS = 7 }
enum	diyd_mtk_protocol_bytes { PREAMBLE1_V16 = 0xd0, PREAMBLE1_V19 = 0xd1, PREAMBLE2 = 0xdd }

Private Attributes
uint8_t	_ck_a
uint8_t	_ck_b
uint8_t	_step
uint8_t	_payload_counter
uint8_t	_mtk_revision
uint8_t	_fix_counter
union {
DEFINE_BYTE_ARRAY_METHODS diyd_mtk_msg   msg
}	_buffer

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 31 of file AP_GPS_MTK19.h.

Member Enumeration Documentation

diyd_mtk_fix_type

enum AP_GPS_MTK19::diyd_mtk_fix_type

private

Enumerator
FIX_NONE
FIX_2D
FIX_3D
FIX_2D_SBAS
FIX_3D_SBAS

Definition at line 54 of file AP_GPS_MTK19.h.

diyd_mtk_protocol_bytes

enum AP_GPS_MTK19::diyd_mtk_protocol_bytes

private

Enumerator
PREAMBLE1_V16
PREAMBLE1_V19
PREAMBLE2

Definition at line 62 of file AP_GPS_MTK19.h.

Constructor & Destructor Documentation

AP_GPS_MTK19()

AP_GPS_MTK19::AP_GPS_MTK19	(	AP_GPS &	_gps,
		AP_GPS::GPS_State &	_state,
		AP_HAL::UARTDriver *	_port
	)

Definition at line 30 of file AP_GPS_MTK19.cpp.

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Member Function Documentation

_detect()

bool AP_GPS_MTK19::_detect ( struct MTK19_detect_state &  state, uint8_t  data  )

static

Definition at line 187 of file AP_GPS_MTK19.cpp.

Referenced by AP_GPS::detect_instance().

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name()

const char* AP_GPS_MTK19::name ( ) const

inlineoverridevirtual

Implements AP_GPS_Backend.

Definition at line 39 of file AP_GPS_MTK19.h.

read()

bool AP_GPS_MTK19::read ( void  )

virtual

Implements AP_GPS_Backend.

Definition at line 52 of file AP_GPS_MTK19.cpp.

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Member Data Documentation

_buffer

union { ... } AP_GPS_MTK19::_buffer

Referenced by read().

_ck_a

uint8_t AP_GPS_MTK19::_ck_a

private

Definition at line 69 of file AP_GPS_MTK19.h.

Referenced by read().

_ck_b

uint8_t AP_GPS_MTK19::_ck_b

private

Definition at line 70 of file AP_GPS_MTK19.h.

Referenced by read().

_fix_counter

uint8_t AP_GPS_MTK19::_fix_counter

private

Definition at line 77 of file AP_GPS_MTK19.h.

Referenced by read().

_mtk_revision

uint8_t AP_GPS_MTK19::_mtk_revision

private

Definition at line 75 of file AP_GPS_MTK19.h.

Referenced by read().

_payload_counter

uint8_t AP_GPS_MTK19::_payload_counter

private

Definition at line 74 of file AP_GPS_MTK19.h.

Referenced by read().

_step

uint8_t AP_GPS_MTK19::_step

private

Definition at line 73 of file AP_GPS_MTK19.h.

Referenced by read().

msg

DEFINE_BYTE_ARRAY_METHODS diyd_mtk_msg AP_GPS_MTK19::msg

Definition at line 82 of file AP_GPS_MTK19.h.

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

• libraries/AP_GPS/AP_GPS_MTK19.h
• libraries/AP_GPS/AP_GPS_MTK19.cpp