#include <GPSDriver.h>

Public Member Functions
	GPSDriver (GPSType type, GPSTransport &transport, const GPSReceiverConfig &config, GPSDriverSinks sinks)

	~GPSDriver ()

	GPSDriver (const GPSDriver &)=delete

GPSDriver &	operator= (const GPSDriver &)=delete

bool	configure ()
	Create and configure the underlying driver. Returns false on failure.

int	receive (unsigned timeoutMs)

int	handleCallback (int type, void *data1, int data2)

Detailed Description

Facade over the px4-gpsdrivers library: selects and configures the receiver driver, bridges its callbacks to a GPSTransport plus the supplied sinks, and pumps its receive loop. Keeps all px4 headers and types out of callers.

Definition at line 56 of file GPSDriver.h.

Constructor & Destructor Documentation

◆ GPSDriver() [1/2]

GPSDriver::GPSDriver	(	GPSType	type,
		GPSTransport &	transport,
		const GPSReceiverConfig &	config,
		GPSDriverSinks	sinks
	)

Definition at line 27 of file GPSDriver.cc.

◆ ~GPSDriver()

GPSDriver::~GPSDriver ( )

default

◆ GPSDriver() [2/2]

GPSDriver::GPSDriver ( const GPSDriver & )

delete

Member Function Documentation

◆ configure()

bool GPSDriver::configure ( )

Create and configure the underlying driver. Returns false on failure.

Definition at line 37 of file GPSDriver.cc.

References femto, GPSReceiverConfig::fixedBaseAccuracyMeters, GPSReceiverConfig::fixedBaseAltitudeMeters, GPSReceiverConfig::fixedBaseLatitude, GPSReceiverConfig::fixedBaseLongitude, GPSReceiverConfig::headingOffsetDeg, septentrio, GPSReceiverConfig::surveyInAccMeters, GPSReceiverConfig::surveyInDurationSecs, trimble, u_blox, and GPSReceiverConfig::useFixedBase.

◆ handleCallback()

int GPSDriver::handleCallback	(	int	type,
		void *	data1,
		int	data2
	)

Trampoline target for the px4 callback; type is a GPSCallbackType value. Public only so the file-local C callback can reach it — not for callers.

Definition at line 115 of file GPSDriver.cc.

References GPSSurveyInStatus::active, GPSSurveyInStatus::altitude, GPSSurveyInStatus::durationSecs, GPSSurveyInStatus::latitude, GPSSurveyInStatus::longitude, GPSSurveyInStatus::meanAccuracyMM, GPSDriverSinks::onRTCM, GPSDriverSinks::onSurveyIn, GPSTransport::read(), GPSTransport::setBaudrate(), GPSSurveyInStatus::valid, and GPSTransport::write().

◆ operator=()

GPSDriver & GPSDriver::operator= ( const GPSDriver & )

delete

◆ receive()

int GPSDriver::receive ( unsigned timeoutMs )

Pump one receive cycle, invoking the position/satellite sinks as data arrives. Returns the px4 bitset (<0 error, bit0 position, bit1 satellite), or <0 if not configured.

Definition at line 95 of file GPSDriver.cc.

References GPSDriverSinks::onPosition, and GPSDriverSinks::onSatelliteInfo.

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

src/GPS/Driver/GPSDriver.h
src/GPS/Driver/GPSDriver.cc

Public Member Functions