mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.1 KiB
C
52 lines
1.1 KiB
C
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#pragma once
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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#include <AP_HAL/utility/DataRateLimit.h>
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#include <AP_HAL/utility/Socket_native.h>
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namespace SITL {
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class ELRS : public SerialDevice {
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public:
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ELRS(const uint8_t portNumber, HALSITL::SITL_State_Common *sitl_state);
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uint32_t device_baud() const override { return 460800; }
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void update();
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private:
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void sendQueuedData();
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struct {
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mavlink_message_t rxmsg;
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mavlink_status_t status;
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} mavlink;
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uint8_t mavlink_parse_char_helper(uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
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ByteBuffer mavlinkInputBuffer;
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ByteBuffer mavlinkOutputBuffer;
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DataRateLimit input_limit;
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DataRateLimit output_limit;
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uint32_t lastSentFlowCtrl;
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const uint8_t this_system_id;
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const uint8_t this_component_id;
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// Air data rate limits in bytes per second
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const float input_data_rate;
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const float output_data_rate;
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// Sockets for communicating with GCS
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SocketAPM_native listener {false};
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SocketAPM_native *sock = nullptr;
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const char *target_address;
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const uint16_t target_port;
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};
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}
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