RTCMMavlink.h 971 Bytes
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#pragma once

#include <QObject>
#include <QElapsedTimer>

#include "QGCToolbox.h"
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#include "MAVLinkProtocol.h"
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/**
 ** class RTCMMavlink
 * Receives RTCM updates and sends them via MAVLINK to the device
 */
class RTCMMavlink : public QObject
{
    Q_OBJECT
public:
    RTCMMavlink(QGCToolbox& toolbox);
    //TODO: API to select device(s)?

public slots:
    void RTCMDataUpdate(QByteArray message);

private:
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    void sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg);

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    QGCToolbox& _toolbox;
    QElapsedTimer _bandwidthTimer;
    int _bandwidthByteCounter = 0;
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    uint8_t _sequenceId = 0;
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};