mirror of https://github.com/ArduPilot/ardupilot
56 lines
2.0 KiB
C++
56 lines
2.0 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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class GCS_MAVLINK_Tracker : public GCS_MAVLINK
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{
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public:
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using GCS_MAVLINK::GCS_MAVLINK;
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uint8_t sysid_my_gcs() const override;
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protected:
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// telem_delay is not used by Tracker but is pure virtual, thus
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// this implementation. it probably *should* be used by Tracker,
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// as currently Tracker may brick XBees
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uint32_t telem_delay() const override { return 0; }
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MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet) override;
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MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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int32_t global_position_int_relative_alt() const override {
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return 0; // what if we have been picked up and carried somewhere?
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}
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void send_nav_controller_output() const override;
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void send_pid_tuning() override;
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// Send the mode with the given index (not mode number!) return the total number of modes
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// Index starts at 1
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uint8_t send_available_mode(uint8_t index) const override;
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private:
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void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
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void mavlink_check_target(const mavlink_message_t &msg);
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void handle_message(const mavlink_message_t &msg) override;
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void handle_message_mission_write_partial_list(const mavlink_message_t &msg);
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void handle_message_mission_item(const mavlink_message_t &msg);
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void handle_message_manual_control(const mavlink_message_t &msg);
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void handle_message_global_position_int(const mavlink_message_t &msg);
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void handle_message_scaled_pressure(const mavlink_message_t &msg);
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void handle_set_attitude_target(const mavlink_message_t &msg);
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void send_global_position_int() override;
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MAV_MODE base_mode() const override;
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MAV_STATE vehicle_system_status() const override;
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bool waypoint_receiving;
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};
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