#pragma once

#include <GCS_MAVLink/GCS.h>

// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_RC_RECEIVER | MAV_SYS_STATUS_SENSOR_BATTERY)

class GCS_MAVLINK_Plane : public GCS_MAVLINK
{

public:

protected:

    uint32_t telem_delay() const override;

    void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;

    AP_AdvancedFailsafe *get_advanced_failsafe() const override;

    uint8_t sysid_my_gcs() const override;
    bool sysid_enforce() const override;

    bool set_mode(uint8_t mode) override;

    MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
    MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
    MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
    MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;

    void send_position_target_global_int() override;

    virtual bool in_hil_mode() const override;

    void send_attitude() const override;
    void send_simstate() const override;

    bool persist_streamrates() const override { return true; }

    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
    uint64_t capabilities() const override;

    void send_nav_controller_output() const override;
    void send_pid_tuning() override;

private:

    void send_pid_info(const AP_Logger::PID_Info *pid_info, const uint8_t axis, const float achieved);

    void handleMessage(mavlink_message_t * msg) override;
    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
    void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
    void handle_rc_channels_override(const mavlink_message_t *msg) override;
    bool try_send_message(enum ap_message id) override;
    void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;

    MAV_MODE base_mode() const override;
    MAV_STATE system_status() const override;

    uint8_t radio_in_rssi() const;

    float vfr_hud_airspeed() const override;
    int16_t vfr_hud_throttle() const override;
    float vfr_hud_climbrate() const override;

};