mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.8 KiB
C++
45 lines
1.8 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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AP_Mission *get_mission() override;
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AP_Rally *get_rally() const override;
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Compass *get_compass() const override;
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AP_Camera *get_camera() const override;
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AP_ServoRelayEvents *get_servorelayevents() const override;
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AP_GPS *get_gps() const override;
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MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
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AP_AdvancedFailsafe *get_advanced_failsafe() const override;
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const AP_FWVersion &get_fwver() const override;
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uint8_t sysid_my_gcs() const override;
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bool set_mode(uint8_t mode) 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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