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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_GPS/MovingBase.cpp
Views: 1798
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#include "MovingBase.h"

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const AP_Param::GroupInfo MovingBase::var_info[] = {

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    // @Param: TYPE

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    // @DisplayName: Moving base type

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    // @Description: Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

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    // @Values: 0:Relative to alternate GPS instance,1:RelativeToCustomBase

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO_FLAGS("TYPE", 1, MovingBase, type, int8_t(Type::RelativeToAlternateInstance), AP_PARAM_FLAG_ENABLE),

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    // @Param: OFS_X

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    // @DisplayName: Base antenna X position offset

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    // @Description: X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

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    // @Units: m

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    // @Range: -5 5

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    // @Increment: 0.01

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    // @User: Advanced

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    // @Param: OFS_Y

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    // @DisplayName: Base antenna Y position offset    

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    // @Description: Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

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    // @Units: m

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    // @Range: -5 5

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    // @Increment: 0.01

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    // @User: Advanced

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    // @Param: OFS_Z

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    // @DisplayName: Base antenna Z position offset

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    // @Description: Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

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    // @Units: m

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    // @Range: -5 5

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    // @Increment: 0.01

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    // @User: Advanced

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    AP_GROUPINFO("OFS", 2, MovingBase, base_offset, 0.0f),

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    AP_GROUPEND

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};

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MovingBase::MovingBase(void) {

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    AP_Param::setup_object_defaults(this, var_info);

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}

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