mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
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#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "GCS_Mavlink.h"
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class GCS_Blimp : public GCS
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{
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friend class Blimp; // for access to _chan in parameter declarations
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public:
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// return GCS link at offset ofs
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GCS_MAVLINK_Blimp *chan(const uint8_t ofs) override
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{
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if (ofs > _num_gcs) {
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Blimp *)_chan[ofs];
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}
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const GCS_MAVLINK_Blimp *chan(const uint8_t ofs) const override
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{
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if (ofs > _num_gcs) {
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Blimp *)_chan[ofs];
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}
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void update_vehicle_sensor_status_flags(void) override;
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uint32_t custom_mode() const override;
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MAV_TYPE frame_type() const override;
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const char* frame_string() const override;
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bool vehicle_initialised() const override;
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protected:
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uint8_t sysid_this_mav() const override;
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// minimum amount of time (in microseconds) that must remain in
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// the main scheduler loop before we are allowed to send any
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// mavlink messages. We want to prioritise the main flight
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// control loop over communications
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uint16_t min_loop_time_remaining_for_message_send_us() const override
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{
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return 250;
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}
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GCS_MAVLINK_Blimp *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
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AP_HAL::UARTDriver &uart) override
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{
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return new GCS_MAVLINK_Blimp(params, uart);
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}
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};
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