diff --git a/conf/modules/digital_cam_pwm.xml b/conf/modules/digital_cam_pwm.xml new file mode 100644 index 0000000000..174833b458 --- /dev/null +++ b/conf/modules/digital_cam_pwm.xml @@ -0,0 +1,58 @@ + + + + + + Trigger using pwm cameras like MAPIR (https://www.mapir.camera/en-gb) + or ThermalCapture 2.0 from TeAx (https://thermalcapture.com/thermalcapture-2-0/) + + **** MAPIR **** + Duty cycle == 2000us : TRIGGER_ON + Duty cycle == 1500us : SD Unmount + Duty cycle == 1000us : TRIGGER_OFF + Image capture frequency : 1.5s for JPG and 2.5-3.0s RAW+JPG + + The quickest the 2000us command should be sent is about once every 1.5s as the camera cannot + capture JPG images more quickly than 1.5s. For RAW+JPG mode we recommend a 2.5-3.0s wait time. + + RAW images are used for capturing data for reflectance measurements, otherwise the pixels in the JPG are not usable. + im_freq_timer should therefore be superior 1.5s (TRIGGER_CAMERA_CAPTURE_IMAGE_PERIOD = 1.5 seconds) + + NMEA GPS data are stored in metadata + + **** ThermalCapture **** + Duty cycle inferior 1500us : TRIGGER_OFF + Duty cycle superior 1500us : TRIGGER_ON + Image capture frequency up to 30 Hz + Possibility to capture one frame per trigger in configurator : Trigger frame mode + Convert 14-bit data into temperature values : + High gain mode: temp [°C] = raw * 0.04 - 273.15 + Low gain mode : temp [°C] = raw * 0.4 - 273.15 + + NMEA GPS data are stored in metadata + + +
+ + +
+ + + digital_cam_common + digital_cam_gpio,digital_cam_i2c,digital_cam_uart,digital_cam_video,digital_cam_pprzlink,digital_cam_servo + gps_nmea_send + +
+ +
+ + + + + + + + + + + diff --git a/conf/modules/gps_nmea_send.xml b/conf/modules/gps_nmea_send.xml new file mode 100644 index 0000000000..9e15ab1487 --- /dev/null +++ b/conf/modules/gps_nmea_send.xml @@ -0,0 +1,36 @@ + + + + + + module used to send GPS data over for external instrument using NMEA input. + Example: MAPIR camera stores GPS data in metadata on each frame. + + + + + + + uart + +
+ +
+ + + + + + + + + + + + + + + + + + diff --git a/sw/airborne/modules/digital_cam/dc_shoot_pwm.c b/sw/airborne/modules/digital_cam/dc_shoot_pwm.c new file mode 100644 index 0000000000..873c969576 --- /dev/null +++ b/sw/airborne/modules/digital_cam/dc_shoot_pwm.c @@ -0,0 +1,141 @@ +/* + * Copyright (C) 2025 Jean-Baptiste Forestier + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ +/** + * @file "modules/digital_cam/dc_shoot_pwm.c" + * @author Jean-Baptiste Forestier + * Trigger using pwm cameras like MAPIR (https://www.mapir.camera/en-gb) + * or ThermalCapture 2.0 from TeAx (https://thermalcapture.com/thermalcapture-2-0/) + * + * **** MAPIR **** + * Duty cycle == 2000us => TRIGGER_ON + * Duty cycle == 1500us => SD Unmount + * Duty cycle == 1000us => TRIGGER_OFF + * Image capture frequency = 1.5s for JPG and 2.5-3.0s RAW+JPG + * + * The quickest the 2000us command should be sent is about once every 1.5s as the camera cannot + * capture JPG images more quickly than 1.5s. For RAW+JPG mode we recommend a 2.5-3.0s wait time. + * + * RAW images are used for capturing data for reflectance measurements, otherwise the pixels in the JPG are not usable. + * im_freq_timer should therefore be > 1.5s (=>TRIGGER_CAMERA_CAPTURE_IMAGE_PERIOD = 1.5 seconds) + * + * NMEA GPS data are stored in metadata + * + * **** ThermalCapture **** + * Duty cycle < 1500us => TRIGGER_OFF + * Duty cycle > 1500us => TRIGGER_ON + * Image capture frequency up to 30 Hz + * Possibility to capture one frame per trigger in configurator : Trigger frame mode + * Convert 14-bit data into temperature values : + * High gain mode: temp [°C] = raw * 0.04 - 273.15 + * Low gain mode : temp [°C] = raw * 0.4 - 273.15 + * + * NMEA GPS data are stored in metadata + * + * **** Trigger system **** + * + * TIME ────────────────────────────────────────────────────────────> + * + * PWM 1000us 2000us 1000us 2000us + * Vcc ┌────┐ ┌───────┐ ┌────┐ ┌───────┐ + * │ OFF│ │ ON │ │ OFF│ │ ON │ + * 0V ────┘ └────────┘ └───────┘ └────────┘ └──── + * im_freq_timer: ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ 0 ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ 0 ↓↓↓↓↓↓↓↓↓↓ + * shutter_timer: ↓↓↓↓ 0 ↓↓↓↓ 0 + * + * ↑ ↑ + * Picture 1 Picture 2 + * + */ + +#include "modules/digital_cam/dc_shoot_pwm.h" + +// Include Standard Camera Control Interface +#include "dc.h" + +#include "generated/airframe.h" +#include "generated/modules.h" +#include "modules/actuators/actuators.h" + + +/** how long to push shutter in seconds */ +#ifndef DC_CAM_PWM_SHUTTER_DELAY +#define DC_CAM_PWM_SHUTTER_DELAY 0.1 +#endif + +/** Max PWM Value */ +#ifndef DC_CAM_PWM_ON_VALUE +#define DC_CAM_PWM_ON_VALUE MAX_PPRZ +#endif + +/** Min PWM Value */ +#ifndef DC_CAM_PWM_OFF_VALUE +#define DC_CAM_PWM_OFF_VALUE MIN_PPRZ +#endif + +/** Servo destination */ +#ifndef DC_CAM_PWM_SERVO +#define DC_CAM_PWM_SERVO DC_CAM_TRIGGER +#endif + +#define CamActuatorSet(_a, _v) ActuatorSet(_a, _v) + +/** + * Timer used for Shutter delay control + */ +static uint8_t shutter_timer; + +/** + * Initialization function + */ +void dc_shoot_pwm_init(void) +{ + shutter_timer = 0; + CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_OFF_VALUE); +} + +/** + * Periodic function to send data + */ +void dc_shoot_pwm_periodic(void) +{ + // Manage the shutter opening time each DC_CAM_PWM_SHUTTER_DELAY seconds + if (shutter_timer == 0) { + CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_OFF_VALUE); + } else { + shutter_timer--; + } + + // Common DC Periodic task + dc_periodic(); +} + +/* Command The Camera */ +void dc_send_command(uint8_t cmd) +{ + if (cmd == DC_SHOOT) { + CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_ON_VALUE); + shutter_timer = DC_CAM_PWM_SHUTTER_DELAY * DC_SHOOT_PWM_PERIODIC_FREQ; + dc_send_shot_position(); + } + + // call command send_command function + dc_send_command_common(cmd); +} + diff --git a/sw/airborne/modules/digital_cam/dc_shoot_pwm.h b/sw/airborne/modules/digital_cam/dc_shoot_pwm.h new file mode 100644 index 0000000000..22f987bc33 --- /dev/null +++ b/sw/airborne/modules/digital_cam/dc_shoot_pwm.h @@ -0,0 +1,79 @@ +/* + * Copyright (C) 2025 Jean-Baptiste Forestier + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ +/** + * @file "modules/digital_cam/dc_shoot_pwm.h + * @author Jean-Baptiste Forestier + * Trigger using pwm cameras like MAPIR (https://www.mapir.camera/en-gb) + * or ThermalCapture 2.0 from TeAx (https://thermalcapture.com/thermalcapture-2-0/) + * + * **** MAPIR **** + * Duty cycle == 2000us => TRIGGER_ON + * Duty cycle == 1500us => SD Unmount + * Duty cycle == 1000us => TRIGGER_OFF + * Image capture frequency = 1.5s for JPG and 2.5-3.0s RAW+JPG + * + * The quickest the 2000us command should be sent is about once every 1.5s as the camera cannot + * capture JPG images more quickly than 1.5s. For RAW+JPG mode we recommend a 2.5-3.0s wait time. + * + * RAW images are used for capturing data for reflectance measurements, otherwise the pixels in the JPG are not usable. + * im_freq_timer should therefore be > 1.5s (=>TRIGGER_CAMERA_CAPTURE_IMAGE_PERIOD = 1.5 seconds) + * + * NMEA GPS data are stored in metadata + * + * **** ThermalCapture **** + * Duty cycle < 1500us => TRIGGER_OFF + * Duty cycle > 1500us => TRIGGER_ON + * Image capture frequency up to 30 Hz + * Possibility to capture one frame per trigger in configurator : Trigger frame mode + * Convert 14-bit data into temperature values : + * High gain mode: temp [°C] = raw * 0.04 - 273.15 + * Low gain mode : temp [°C] = raw * 0.4 - 273.15 + * + * NMEA GPS data are stored in metadata + * + * **** Trigger system **** + * + * TIME ────────────────────────────────────────────────────────────> + * + * PWM 1000us 2000us 1000us 2000us + * Vcc ┌────┐ ┌───────┐ ┌────┐ ┌───────┐ + * │ OFF│ │ ON │ │ OFF│ │ ON │ + * 0V ────┘ └────────┘ └───────┘ └────────┘ └──── + * im_freq_timer: ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ 0 ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ 0 ↓↓↓↓↓↓↓↓↓↓ + * shutter_timer: ↓↓↓↓ 0 ↓↓↓↓ 0 + * + * ↑ ↑ + * Picture 1 Picture 2 + * + * im_freq_timer should therefore be > 1.5s (=>TRIGGER_CAMERA_CAPTURE_IMAGE_PERIOD = 1.5 seconds) + * + */ + + +#ifndef DC_SHOOT_PWM_H +#define DC_SHOOT_PWM_H + +#include "std.h" + +void dc_shoot_pwm_init(void); +void dc_shoot_pwm_periodic(void); + +#endif + diff --git a/sw/airborne/modules/gps/gps_nmea_send.c b/sw/airborne/modules/gps/gps_nmea_send.c new file mode 100644 index 0000000000..fbdd89658d --- /dev/null +++ b/sw/airborne/modules/gps/gps_nmea_send.c @@ -0,0 +1,277 @@ +/* + * Copyright (C) 2025 Jean-Baptiste FORESTIER + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ +/** + * @file "modules/gps/gps_nmea_send.c" + * @author Jean-Baptiste FORESTIER + * @brief module used to send GPS data over a Tawaki UART for extern instrument using NMEA protocol + * Exemple of use : MAPIR camera stores GPS data in metadata on each frame + */ + + + +#include "modules/gps/gps_nmea_send.h" +#include "mcu_periph/uart.h" +#include "generated/airframe.h" +#include "state.h" // State interface for rotation compensation +#include "modules/gps/gps.h" + +#include +#include +#include +#include +#include +#include + +// ** Declaration ** // +struct Gps_Nmea_Send gps_nmea_send; + +static void recover_gps_data(void); +static void build_nmea_sentence(void); +static uint8_t nmea_checksum(const char *sentence, int length); +static void nmea_convert_deg_to_DDMM(double deg, char *buf, int is_lat); +static void gps_nmea_get_system_date_str(char *buf_date, size_t buf_date_size, char *buf_time, size_t buf_time_size); +static void nmea_send(const char *payload, int payload_length); + + +/** + * Initialization function + */ +void gps_nmea_send_init(void) +{ + gps_nmea_send.error_init = false; + + gps_nmea_send.msg.lat = 0; + gps_nmea_send.msg.lon = 0; + gps_nmea_send.msg.num_sv = 0; + gps_nmea_send.msg.pdop = 0; + gps_nmea_send.msg.hmsl = 0; + gps_nmea_send.msg.vground = 0; + gps_nmea_send.msg.course = 0; +} + +/** + * Periodic function to send data + */ +void gps_nmea_send_periodic(void) +{ + recover_gps_data(); + build_nmea_sentence(); +} + + +/** + * Function to recover data available onboard from GPS + */ +void recover_gps_data(void) +{ +#if GPS_NMEA_SEND_USE_STATE_DATA + struct LlaCoor_f *lla = stateGetPositionLla_f(); + gps_nmea_send.msg.lat = (double)gps->lat; + gps_nmea_send.msg.lon = (double)gps->lon; + gps_nmea_send.msg.hmsl = stateGetHmslOrigin_f() + stateGetPositionEnu_f()->z; + gps_nmea_send.msg.vground = stateGetHorizontalSpeedNorm_f(); + gps_nmea_send.msg.course = NormCourseRad(stateGetHorizontalSpeedDir_f()); +#else // Default, use unfiltered GPS data + gps_nmea_send.msg.lat = (double)gps.lla_pos.lat / 1e7; + gps_nmea_send.msg.lon = (double)gps.lla_pos.lon / 1e7; + gps_nmea_send.msg.hmsl = (float)gps.hmsl / 1000.f; //in meters + gps_nmea_send.msg.vground = (float)gps.gspeed / 100.f; // in meters + gps_nmea_send.msg.course = (float)DegOfRad(gps.course / 1e7); +#endif + gps_nmea_send.msg.num_sv = gps.num_sv; + gps_nmea_send.msg.pdop = gps.pdop; +} + +/** + * Function to build sentence for NMEA Protocol + */ +void build_nmea_sentence(void) +{ + // Latitude and Longitude + char lat_buf[16], lon_buf[16], gga[120], rmc[120], date_sys[6], time_sys[6]; + int len_gga = 0; + int len_rmc = 0; + uint8_t cs; + nmea_convert_deg_to_DDMM(gps_nmea_send.msg.lat, lat_buf, 1); + nmea_convert_deg_to_DDMM(gps_nmea_send.msg.lon, lon_buf, 0); + char lat_hemi = (gps_nmea_send.msg.lat >= 0) ? 'N' : 'S'; + char lon_hemi = (gps_nmea_send.msg.lon >= 0) ? 'E' : 'W'; + + for (int i = 0; i < 120; i++) { gga[i] = '\0'; rmc[i] = '\0'; } + + if (gps.fix >= GPS_FIX_3D) { + gps_nmea_get_system_date_str(date_sys, sizeof(date_sys) + 1, time_sys, sizeof(time_sys) + 1); + + // ------------------------------- + // GPGGA Frame + // ------------------------------- + sprintf(gga, + "$GPGGA,%s,%s,%c,%s,%c,1,%02u,%04u,%09.3f,M,0,M,,", + time_sys, lat_buf, lat_hemi, lon_buf, lon_hemi, + gps_nmea_send.msg.num_sv, gps_nmea_send.msg.pdop, + gps_nmea_send.msg.hmsl); + len_gga = 7; // $GPGGA, = 7 + len_gga += 7; // time_nmea, = 7 + len_gga += 10; // lat_buf = 9 + comma + len_gga += 2; // lat_hemi = N, + len_gga += 11; // lon_buf = 10 + comma + len_gga += 2; // lon_hemi = W, + len_gga += 2; // GPS Quality indicator GPS fix = 1, + len_gga += 3; // number of sats = 08, + len_gga += 5; // position dilution of precision scaled by 100 = 1020, + len_gga += 10; // height above mean sea level (MSL) in m = 02945.127, + len_gga += 2; // height above mean sea level unit = M, + len_gga += 2; // Ellipsoid to geoid distance set 0, don't where to find it = 0, + len_gga += 2; // Distance above unit = M, + len_gga += 1; // Empty = , + + cs = nmea_checksum(gga, len_gga); + sprintf(gga + len_gga, "*%02X\r\n", cs); + len_gga += 5; // * + Checksum + \r\n = *4F\r\n + + nmea_send(gga, len_gga); + + // ------------------------------- + // GPRMC Frame + // ------------------------------- + sprintf(rmc, + "$GPRMC,%s,A,%s,%c,%s,%c,%05.1f,%05.1f,%s,000.0,W", + time_sys, lat_buf, lat_hemi, lon_buf, lon_hemi, + gps_nmea_send.msg.vground, gps_nmea_send.msg.course, date_sys); + len_rmc = 7; // $GPRMC, = 7 + len_rmc += 7; // time_nmea, = 7 + len_rmc += 2; // Status A=active or V=void = A, + len_rmc += 10; // lat_buf = 9 + comma + len_rmc += 2; // lat_hemi = N, + len_rmc += 11; // lon_buf = 10 + comma + len_rmc += 2; // lon_hemi = W, + len_rmc += 6; // vground = 050.4, + len_rmc += 6; // track angle course = 050.4, + len_rmc += 7; // Date = 230394, + len_rmc += 7; // Magnetic variation, in degrees = 003.1,W, + + cs = nmea_checksum(rmc, len_rmc); + sprintf(rmc + len_rmc, "*%02X\r\n", cs); + len_rmc += 5; // * + Checksum + \r\n = *4F\r\n + + nmea_send(rmc, len_rmc); + + } else { + //If no fix, empty GGA + sprintf(gga, "$GPGGA,,,,,,0,00,99.99,,,,,,*68\r\n"); + nmea_send(gga, 33); + + //If no fix, empty RMC + sprintf(rmc, "$GPRMC,,V,,,,,,,,,,*53\r\n"); + nmea_send(rmc, 24); + } +} + +/** + * Function to calculate checksum + */ +uint8_t nmea_checksum(const char *sentence, int length) +{ + uint8_t cs = 0; + for (int i = 0; i < length; i++) { + cs ^= (uint8_t)sentence[i]; + } + return cs; +} + +/** + * Function to convert lat long in DDLL.MMMM Format + * Lat and long don't have the same length + */ +void nmea_convert_deg_to_DDMM(double deg, char *buf, int is_lat) +{ + double abs_deg = fabs(deg); + int d = (int)abs_deg; + double minutes = (abs_deg - d) * 60.0; + + if (is_lat) { + // 2 integers for degrees 0 to 90 without sign => %02d | 2 integers for minutes, 1 for point, 4 for minutes decimals + sprintf(buf, "%02d%07.4f", d, minutes); + } else { + // 3 integers for degrees 0 to 180 without sign => %03d | 2 integers for minutes, 1 for point, 4 for minutes decimals + sprintf(buf, "%03d%07.4f", d, minutes); + } +} + +/** + * Get Date from system + */ +void gps_nmea_get_system_date_str(char *buf_date, size_t buf_date_size, char *buf_time, size_t buf_time_size) +{ + // days from 1970-01-01 + const int64_t gps_epoch_days = 3657; + // Total time gps + uint64_t gps_sec = (uint64_t)gps.week * 7 * 24 * 3600 + gps.tow / 1000; + // Day gps + gps epoch + int64_t days = gps_epoch_days + gps_sec / 86400; + + // Algo to get year month day from Week and tow + // Shift day count so that day 0 corresponds to the Gregorian epoch (0000-03-01) + days += 719468; + // Determine the 400-year Gregorian cycle, One Gregorian era = 400 years = 146097 days. + int64_t era = (days >= 0 ? days : days - 146096) / 146097; + // Day Of Era: number of days elapsed within the current 400-year cycle. + uint64_t doe = (uint64_t)(days - era * 146097); + // Year Of Era: compute the year number inside the cycle, correcting for leap years (every 4 years, except centuries, except 400-year multiples). + uint64_t yoe = (doe - doe / 1460 + doe / 36524 - doe / 146096) / 365; + // Convert "year in era" to an absolute Gregorian year. + int64_t y = (int64_t)yoe + era * 400; + // Day Of Year: subtract all full days from completed years to get day index within the year. + uint64_t doy = doe - (365 * yoe + yoe / 4 - yoe / 100); + // Month part: day-of-year into a month index in a calendar where March = 0 and February = 11 + uint64_t mp = (5 * doy + 2) / 153; + // Compute the day-of-month + uint64_t d = doy - (153 * mp + 2) / 5 + 1; + // Convert shifted month index back to standard month 0-12 + uint64_t m = mp + (mp < 10 ? 3 : -9); + y += (m <= 2); + + // Hours / minutes / secondes + uint32_t sec_of_day = gps_sec % 86400; + uint8_t hour = sec_of_day / 3600; + uint8_t min = (sec_of_day % 3600) / 60; + uint8_t sec = sec_of_day % 60; + + // Format : DDMMYY + snprintf(buf_date, buf_date_size, "%02d%02d%02d", + (uint8_t)d, + (uint8_t)m, + (uint8_t)(y % 100)); + + // Format : HHMMSS + snprintf(buf_time, buf_time_size, "%02d%02d%02d", + hour, + min, + sec); +} + +/** + * Function to send payload to UART + */ +void nmea_send(const char *payload, int payload_length) +{ + uart_put_buffer(&NMEA_SEND_UART, 0, (const uint8_t *)payload, payload_length); +} + diff --git a/sw/airborne/modules/gps/gps_nmea_send.h b/sw/airborne/modules/gps/gps_nmea_send.h new file mode 100644 index 0000000000..a5053c1668 --- /dev/null +++ b/sw/airborne/modules/gps/gps_nmea_send.h @@ -0,0 +1,50 @@ +/* + * Copyright (C) 2025 Jean-Baptiste FORESTIER + * + * This file is part of paparazzi + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, see + * . + */ +/** + * @file "modules/gps/gps_nmea_send.h" + * @author Jean-Baptiste FORESTIER + * @brief module used to send GPS data over a Tawaki UART for extern instrument using NMEA protocol + * Exemple of use : MAPIR camera stores GPS data in metadata on each frame + */ + +#ifndef GPS_NMEA_SEND_H +#define GPS_NMEA_SEND_H + +#include "std.h" + +struct gps_nmea_send_msg_t { + double lat; ///< Latitude + double lon; ///< Longiitude + uint8_t num_sv; ///< number of sat in fix + uint16_t pdop; ///< position dilution of precision scaled by 100 + float hmsl; ///< Orthometric height (MSL reference) + float vground; ///< Speed over ground in m/s + float course; ///< GPS course over ground in rad*1e7, [0, 2*Pi]*1e7 (CW/north) +}; + +struct Gps_Nmea_Send { + bool error_init; // Flag to indicate if there was an error during initialization + struct gps_nmea_send_msg_t msg; +}; + +extern void gps_nmea_send_init(void); +extern void gps_nmea_send_periodic(void); + +#endif