mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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class GCS_MAVLINK_Sub : public GCS_MAVLINK {
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public:
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using GCS_MAVLINK::GCS_MAVLINK;
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protected:
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uint32_t telem_delay() const override {
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return 0;
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};
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MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
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uint8_t sysid_my_gcs() const override;
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bool should_zero_rc_outputs_on_reboot() const override { return true; }
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MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
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MAV_RESULT _handle_command_preflight_calibration_baro() override;
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MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
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MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
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// override sending of scaled_pressure3 to send on-board temperature:
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void send_scaled_pressure3() override;
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int32_t global_position_int_alt() const override;
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int32_t global_position_int_relative_alt() const override;
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bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
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bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
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void send_nav_controller_output() const override;
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void send_pid_tuning() override;
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uint64_t capabilities() const override;
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private:
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void handleMessage(const 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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void handle_rc_channels_override(const mavlink_message_t &msg) override;
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bool try_send_message(enum ap_message id) override;
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bool send_info(void);
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MAV_MODE base_mode() const override;
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MAV_STATE system_status() const override;
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int16_t vfr_hud_throttle() const override;
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};
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