ardupilot/AntennaTracker/GCS_Tracker.h

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1.3 KiB
C
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#pragma once
#include <GCS_MAVLink/GCS.h>
#include "GCS_Mavlink.h"
class GCS_Tracker : public GCS
{
friend class Tracker; // for access to _chan in parameter declarations
friend class GCS_MAVLINK_Tracker;
public:
// return GCS link at offset ofs
GCS_MAVLINK_Tracker *chan(const uint8_t ofs) override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Tracker*)_chan[ofs];
}
const GCS_MAVLINK_Tracker *chan(const uint8_t ofs) const override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Tracker*)_chan[ofs];
}
void update_vehicle_sensor_status_flags() override;
uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override;
protected:
uint8_t sysid_this_mav() const override;
GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Tracker(params, uart);
}
private:
void request_datastream_position(uint8_t sysid, uint8_t compid);
void request_datastream_airpressure(uint8_t sysid, uint8_t compid);
};