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57 lines
1.4 KiB
57 lines
1.4 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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#ifndef QGC_H |
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#define QGC_H |
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#include <QDateTime> |
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#include <QColor> |
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#include <QThread> |
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#include "QGCConfig.h" |
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namespace QGC |
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{ |
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/** |
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* @brief Get the current ground time in microseconds. |
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* @note This does not have microsecond precision, it is limited to millisecond precision. |
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*/ |
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quint64 groundTimeUsecs(); |
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/** @brief Get the current ground time in milliseconds */ |
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quint64 groundTimeMilliseconds(); |
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/** |
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* @brief Get the current ground time in fractional seconds |
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* @note Precision is limited to milliseconds. |
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*/ |
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qreal groundTimeSeconds(); |
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/** @brief Returns the angle limited to -pi - pi */ |
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float limitAngleToPMPIf(float angle); |
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/** @brief Returns the angle limited to -pi - pi */ |
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double limitAngleToPMPId(double angle); |
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const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21; |
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class SLEEP : public QThread |
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{ |
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Q_OBJECT |
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public: |
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using QThread::sleep; |
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using QThread::msleep; |
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using QThread::usleep; |
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}; |
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quint32 crc32(const quint8 *src, unsigned len, unsigned state); |
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} |
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#define QGC_EVENTLOOP_DEBUG 0 |
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#endif // QGC_H
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