ardupilot/ArduSub/GCS_Mavlink.h

45 lines
1.3 KiB
C++

#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Sub : public GCS_MAVLINK {
public:
void data_stream_send(void) override;
protected:
uint32_t telem_delay() const override {
return 0;
};
Compass *get_compass() const override;
AP_Mission *get_mission() override;
AP_Rally *get_rally() const override;
AP_Camera *get_camera() const override;
const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override;
MAV_RESULT _handle_command_preflight_calibration_baro() override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
private:
void handleMessage(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;
bool try_send_message(enum ap_message id) override;
MAV_TYPE frame_type() const override;
MAV_MODE base_mode() const override;
uint32_t custom_mode() const override;
MAV_STATE system_status() const override;
};