mirror of
https://github.com/ArduPilot/ardupilot
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34718b130a
Without this, there is no update to the sensor status flags in the Frsky lib unless there's an active Mavlink connection configured to send extended_status1
31 lines
1.3 KiB
C++
31 lines
1.3 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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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_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)
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class GCS_MAVLINK_Copter : public GCS_MAVLINK
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{
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public:
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void data_stream_send(void) override;
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protected:
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uint32_t telem_delay() const override;
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bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
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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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bool try_send_message(enum ap_message id) override;
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void packetReceived(const mavlink_status_t &status,
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mavlink_message_t &msg) override;
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};
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