ardupilot/ArduSub/GCS_Mavlink.h

58 lines
1.8 KiB
C++

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