ardupilot/Rover/GCS_Mavlink.h

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#pragma once
#include <GCS_MAVLink/GCS.h>
// set 0 in 4.6, remove feature in 4.7:
#ifndef AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 1
#endif
class GCS_MAVLINK_Rover : public GCS_MAVLINK
{
public:
using GCS_MAVLINK::GCS_MAVLINK;
protected:
uint32_t telem_delay() const override;
uint8_t sysid_my_gcs() const override;
bool sysid_enforce() const override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
void send_position_target_global_int() override;
bool persist_streamrates() const override { return true; }
bool set_home_to_current_location(bool lock) override;
bool set_home(const Location& loc, bool lock) override;
uint64_t capabilities() const override;
void send_nav_controller_output() const override;
void send_pid_tuning() 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 handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
void handle_set_attitude_target(const mavlink_message_t &msg);
void handle_set_position_target_local_ned(const mavlink_message_t &msg);
void handle_set_position_target_global_int(const mavlink_message_t &msg);
void handle_radio(const mavlink_message_t &msg);
void handle_landing_target(const mavlink_landing_target_t &msg, uint32_t timestamp_ms) override;
void send_servo_out();
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;
2018-01-30 22:11:27 -04:00
int16_t vfr_hud_throttle() const override;
void send_rangefinder() const override;
#if HAL_HIGH_LATENCY2_ENABLED
uint8_t high_latency_tgt_heading() const override;
uint16_t high_latency_tgt_dist() const override;
uint8_t high_latency_tgt_airspeed() const override;
uint8_t high_latency_wind_speed() const override;
uint8_t high_latency_wind_direction() const override;
#endif // HAL_HIGH_LATENCY2_ENABLED
};