ardupilot/ArduCopter/GCS_Mavlink.h

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#pragma once
#include <GCS_MAVLink/GCS.h>
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
class GCS_MAVLINK_Copter : public GCS_MAVLINK
{
public:
void data_stream_send(void) override;
protected:
uint32_t telem_delay() const override;
bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
AP_Mission *get_mission() override;
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AP_Rally *get_rally() const override;
Compass *get_compass() const override;
AP_Camera *get_camera() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override;
bool params_ready() const override;
void send_banner() override;
private:
void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg) override;
};