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50 lines
1.3 KiB
50 lines
1.3 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "GPSProvider.h" |
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#include "RTCM/RTCMMavlink.h" |
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#include <QGCToolbox.h> |
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#include <QString> |
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#include <QObject> |
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/** |
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** class GPSManager |
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* handles a GPS provider and RTK |
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*/ |
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class GPSManager : public QGCTool |
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{ |
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Q_OBJECT |
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public: |
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GPSManager(QGCApplication* app, QGCToolbox* toolbox); |
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~GPSManager(); |
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void connectGPS (const QString& device, const QString& gps_type); |
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void disconnectGPS (void); |
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bool connected (void) const { return _gpsProvider && _gpsProvider->isRunning(); } |
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signals: |
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void onConnect(); |
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void onDisconnect(); |
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void surveyInStatus(float duration, float accuracyMM, bool valid, bool active); |
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void satelliteUpdate(int numSats); |
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private slots: |
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void GPSPositionUpdate(GPSPositionMessage msg); |
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void GPSSatelliteUpdate(GPSSatelliteMessage msg); |
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private: |
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GPSProvider* _gpsProvider = nullptr; |
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RTCMMavlink* _rtcmMavlink = nullptr; |
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std::atomic_bool _requestGpsStop; ///< signals the thread to quit |
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};
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