mirror of https://github.com/ArduPilot/ardupilot
108 lines
4.1 KiB
C++
108 lines
4.1 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Airspeed/AP_Airspeed_config.h>
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#include "quadplane.h"
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#include "defines.h"
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class GCS_MAVLINK_Plane : 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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uint32_t telem_delay() const override;
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#if HAL_LOGGING_ENABLED
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uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
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#endif
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#if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
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void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
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#endif
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bool sysid_enforce() const override;
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MAV_RESULT handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_int_t &packet) override;
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void send_position_target_global_int() override;
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void send_aoa_ssa();
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void send_attitude() const override;
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void send_attitude_target() override;
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void send_wind() const;
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bool persist_streamrates() const override { return true; }
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uint64_t capabilities() const override;
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void send_nav_controller_output() const override;
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void send_pid_tuning() override;
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void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
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void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
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private:
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void send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
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void handle_message(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_change_alt_request(AP_Mission::Mission_Command &cmd) override;
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MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
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void handle_set_position_target_global_int(const mavlink_message_t &msg);
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void handle_set_position_target_local_ned(const mavlink_message_t &msg);
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void handle_set_attitude_target(const mavlink_message_t &msg);
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#if HAL_QUADPLANE_ENABLED
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#if AP_MAVLINK_COMMAND_LONG_ENABLED
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void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);
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void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override;
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#endif
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MAV_RESULT handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
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#endif
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bool try_send_message(enum ap_message id) override;
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void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) 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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float vfr_hud_airspeed() const override;
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int16_t vfr_hud_throttle() const override;
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float vfr_hud_climbrate() const override;
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#if HAL_HIGH_LATENCY2_ENABLED
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int16_t high_latency_target_altitude() const override;
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uint8_t high_latency_tgt_heading() const override;
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uint16_t high_latency_tgt_dist() const override;
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uint8_t high_latency_tgt_airspeed() const override;
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uint8_t high_latency_wind_speed() const override;
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uint8_t high_latency_wind_direction() const override;
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#endif // HAL_HIGH_LATENCY2_ENABLED
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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void send_hygrometer();
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uint8_t last_hygrometer_send_idx;
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#endif
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MAV_VTOL_STATE vtol_state() const override;
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MAV_LANDED_STATE landed_state() const override;
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};
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