add firmware

dev/gps.h

@@ -0,0 +1,35 @@
+#pragma once
+
+struct Point { double Latitude; double Longitude; float Altitude; };
+
+extern Point Base_BeginXYZ;
+
+void GPS_Navigation(bool valid, ORI_Data& data, float p[3]);
+
+float GPS_LocalDistance(Point p1, Point p2, float& dx, float& dy); // light formula
+float GPS_GlobalDistance(Point p1, Point p2); // Haversine formula
+
+void GPS_Init();
+void GPS_Update();
+bool GPS_GetCoordinates(Point& Coord, bool& Valid);
+
+struct GPS_BaseInfo
+{
+  float LocalXYZ[3];
+  float lat; 
+  float lon; 
+  float absAlt; 
+  float realAlt; 
+  float hdop; 
+  float vdop; 
+  float pdop; 
+  float noise; 
+  float jamming; //
+  unsigned char satVisible; 
+  unsigned char satUsed; 
+  float speed;  
+  unsigned char fixType; // NO_GPS - 0, NO_FIX - 1, 2D_FIX - 2, 3D_FIX - 3, DGPS - 4, RTK_FLOAT - 5, RTK_FIXED - 6, STATIC - 7, PPP - 8
+  unsigned long long timeUTC;
+};
+
+bool GPS_GetBaseInfo(GPS_BaseInfo& Info);