/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #pragma once #include #if HAL_GCS_ENABLED /* * GCS backend used for many examples and tools */ class GCS_MAVLINK_Periph : public GCS_MAVLINK { public: using GCS_MAVLINK::GCS_MAVLINK; private: uint32_t telem_delay() const override { return 0; } bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; } MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override; uint8_t sysid_my_gcs() const override; protected: // Periph information: MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; } MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; } void send_nav_controller_output() const override {}; void send_pid_tuning() override {}; virtual uint8_t send_available_mode(uint8_t index) const override { return 0; } }; /* * a GCS singleton used for many example sketches and tools */ extern const AP_HAL::HAL& hal; class GCS_Periph : public GCS { public: using GCS::GCS; protected: uint8_t sysid_this_mav() const override; GCS_MAVLINK_Periph *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) override { return NEW_NOTHROW GCS_MAVLINK_Periph(params, uart); } private: // the following define expands to a pair of methods to retrieve a // pointer to an object of the correct subclass for the link at // offset ofs. These are of the form: // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override; // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const; GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Periph); MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; } uint32_t custom_mode() const override { return 3; } // magic number }; #endif // HAL_GCS_ENABLED