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44 lines
1.2 KiB
44 lines
1.2 KiB
#pragma once |
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#include <stdint.h> |
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typedef enum gps_fix_qual_e { |
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GPS_FIX_INVALID = 0, // invalid gps fix |
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GPS_FIX_GPS = 1, // GPS fix |
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GPS_FIX_DGPS = 2, // differential GPS fix |
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GPS_FIX_PPS = 3, // PPS fix |
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GPS_FIX_RTK = 4, // Real Time Kinematic fix |
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GPS_FIX_FRTK = 5, // Float Real Time Kinematic fix |
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GPS_FIX_ESTIMATED = 6, // Estimated fix |
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GPS_FIX_MANUAL = 7, // Manual fix |
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GPS_FIX_SIMULATED = 8, // Simulated fix |
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} gps_fix_qual_t; |
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typedef struct ugv_inputs_s { |
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float gyro_x; // degrees |
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float gyro_y; // degrees |
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float gyro_z; // degrees |
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float accel_x; // gs |
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float accel_y; // gs |
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float accel_z; // gs |
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float mag_x; // flux density uT |
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float mag_y; // flux density uT |
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float mag_z; // flux density uT |
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gps_fix_qual_t gps_fix_quality; |
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uint8_t gps_num_satellites; |
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double gps_lat; // degrees +/- |
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double gps_long; // degrees +/- |
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double gps_altitude; // meters |
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} ugv_inputs_t; |
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typedef struct ugv_outputs_s { |
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float left_motor; // left motor power -1.0 to +1.0 |
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float right_motor; // right motor power -1.0 to +1.0 |
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} ugv_outputs_t; |
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void ugv_io_init(); |
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void ugv_io_read_inputs(ugv_inputs_t *inputs); |
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void ugv_io_write_outputs(ugv_outputs_t *outputs);
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