ardupilot/ArduCopter/GCS_Copter.h

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C
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#pragma once
#include <GCS_MAVLink/GCS.h>
#include "GCS_Mavlink.h"
class GCS_Copter : public GCS
{
friend class Copter; // for access to _chan in parameter declarations
public:
// return the number of valid GCS objects
uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
// return GCS link at offset ofs
GCS_MAVLINK_Copter &chan(uint8_t ofs) override {
if (ofs >= num_gcs()) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0;
}
return _chan[ofs];
}
const GCS_MAVLINK_Copter &chan(uint8_t ofs) const override {
if (ofs >= num_gcs()) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0;
}
return _chan[ofs];
}
void update_vehicle_sensor_status_flags(void) override;
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uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override;
const char* frame_string() const override;
bool vehicle_initialised() const override;
bool simple_input_active() const override;
bool supersimple_input_active() const override;
protected:
// minimum amount of time (in microseconds) that must remain in
// the main scheduler loop before we are allowed to send any
// mavlink messages. We want to prioritise the main flight
// control loop over communications
uint16_t min_loop_time_remaining_for_message_send_us() const override {
return 250;
}
private:
GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
};