Integrate asynchronous GPS IMU fusion

2026-07-16 23:49:43 +03:00
parent 38a96dd88f
commit 7cc3eb2a54
80 changed files with 3901 additions and 553 deletions
@@ -0,0 +1,27 @@
+#ifndef GPS_SYSTEM_UART_H
+#define GPS_SYSTEM_UART_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "fusion/navigation_fusion.h"
+#include "gps/NavEquations.h"
+
+void gps_system_uart_publish_location(
+	const char* source,
+	double latitude_deg,
+	double longitude_deg,
+	double height_m,
+	const gps_nav_solution_t* gps);
+
+void gps_system_uart_publish_startup(
+	bool fusion_enabled,
+	bool fusion_initialized,
+	bool imu_initialized,
+	bool imu_running);
+
+void gps_system_uart_publish_periodic_fusion_status(
+	navigation_fusion_output_t* output,
+	uint64_t* last_status_tick);
+
+#endif