2016-05-27 10:04:55 -03:00
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#pragma once
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#include <GCS_MAVLink/GCS.h>
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2016-10-27 23:20:56 -03:00
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// default sensors are present and healthy: gyro, accelerometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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2018-03-01 23:30:40 -04:00
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_BATTERY)
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2016-10-27 23:20:56 -03:00
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2016-05-27 10:04:55 -03:00
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class GCS_MAVLINK_Rover : public GCS_MAVLINK
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{
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public:
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protected:
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2016-05-29 21:08:46 -03:00
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uint32_t telem_delay() const override;
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2017-07-25 03:36:40 -03:00
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AP_AdvancedFailsafe *get_advanced_failsafe() const override;
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2017-07-08 00:23:03 -03:00
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2017-07-12 04:42:48 -03:00
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uint8_t sysid_my_gcs() const override;
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2018-12-13 19:12:34 -04:00
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bool sysid_enforce() const override;
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2017-07-12 04:42:48 -03:00
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2017-08-11 02:52:27 -03:00
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bool set_mode(uint8_t mode) override;
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2018-03-17 05:19:30 -03:00
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MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
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2018-07-03 23:38:22 -03:00
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
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2018-07-03 23:32:04 -03:00
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MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
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2018-03-17 05:19:30 -03:00
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2017-08-21 02:53:37 -03:00
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virtual bool in_hil_mode() const override;
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2018-05-21 09:34:58 -03:00
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bool persist_streamrates() const override { return true; }
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2018-12-17 22:07:15 -04:00
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bool vehicle_initialised() const override;
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2018-07-05 22:34:29 -03:00
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bool set_home_to_current_location(bool lock) override;
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bool set_home(const Location& loc, bool lock) override;
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2018-03-28 22:02:36 -03:00
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uint64_t capabilities() const override;
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2018-07-05 22:34:29 -03:00
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2018-05-04 21:09:34 -03:00
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void send_nav_controller_output() const override;
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2016-05-27 10:04:55 -03:00
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private:
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void handleMessage(mavlink_message_t * msg) override;
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
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2019-02-03 17:40:30 -04:00
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void handle_rc_channels_override(const mavlink_message_t *msg) override;
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2016-05-27 10:04:55 -03:00
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bool try_send_message(enum ap_message id) override;
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2018-03-22 06:21:07 -03:00
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2018-07-07 02:12:45 -03:00
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void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
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2018-03-22 06:21:07 -03:00
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MAV_TYPE frame_type() const override;
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MAV_MODE base_mode() const override;
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uint32_t custom_mode() const override;
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MAV_STATE system_status() const override;
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2018-01-30 22:11:27 -04:00
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int16_t vfr_hud_throttle() const override;
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2018-12-18 06:47:19 -04:00
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void send_rangefinder() const override;
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2016-05-27 10:04:55 -03:00
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};
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