ardupilot/Blimp/GCS_Mavlink.h

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#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Blimp : public GCS_MAVLINK
{
public:
using GCS_MAVLINK::GCS_MAVLINK;
protected:
uint32_t telem_delay() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
uint8_t sysid_my_gcs() const override;
bool sysid_enforce() const override;
bool params_ready() const override;
void send_banner() override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
void send_position_target_global_int() override;
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails.
uint64_t capabilities() const override;
virtual MAV_VTOL_STATE vtol_state() const override
{
return MAV_VTOL_STATE_MC;
};
virtual MAV_LANDED_STATE landed_state() const override;
private:
void handleMessage(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg) override;
MAV_MODE base_mode() const override;
MAV_STATE vehicle_system_status() const override;
float vfr_hud_airspeed() const override;
int16_t vfr_hud_throttle() const override;
float vfr_hud_alt() const override;
void send_pid_tuning() override;
void send_wind() const;
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//This is 1-indexed, unlike most enums for consistency with the mavlink PID_TUNING enums.
enum PID_SEND : uint8_t {
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VELX = 1,
VELY = 2,
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VELZ = 3,
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VELYAW = 4,
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POSX = 5,
POSY = 6,
POSZ = 7,
POSYAW = 8,
};
#if HAL_HIGH_LATENCY2_ENABLED
uint8_t high_latency_wind_speed() const override;
uint8_t high_latency_wind_direction() const override;
#endif // HAL_HIGH_LATENCY2_ENABLED
};