mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.6 KiB
C++
51 lines
1.6 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 implementaiton. 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_long_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_long_packet(const mavlink_command_long_t &packet) 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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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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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 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_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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