ardupilot/Tools/AP_Periph/GCS_MAVLink.h

93 lines
2.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <GCS_MAVLink/GCS.h>
#if HAL_GCS_ENABLED
/*
* GCS backend used for many examples and tools
*/
class GCS_MAVLINK_Periph : public GCS_MAVLINK
{
public:
using GCS_MAVLINK::GCS_MAVLINK;
private:
uint32_t telem_delay() const override { return 0; }
void handleMessage(const mavlink_message_t &msg) override { handle_common_message(msg); }
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {}
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override;
protected:
uint8_t sysid_my_gcs() const override;
// Periph information:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
bool set_home_to_current_location(bool _lock) override { return false; }
bool set_home(const Location& loc, bool _lock) override { return false; }
void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
};
/*
* a GCS singleton used for many example sketches and tools
*/
extern const AP_HAL::HAL& hal;
class GCS_Periph : public GCS
{
public:
using GCS::GCS;
protected:
uint8_t sysid_this_mav() const override;
GCS_MAVLINK_Periph *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Periph(params, uart);
}
private:
GCS_MAVLINK_Periph *chan(const uint8_t ofs) override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Periph *)_chan[ofs];
};
const GCS_MAVLINK_Periph *chan(const uint8_t ofs) const override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Periph *)_chan[ofs];
};
MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; }
uint32_t custom_mode() const override { return 3; } // magic number
};
#endif // HAL_GCS_ENABLED