mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.5 KiB
C++
87 lines
2.5 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "defines.h"
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class GCS_MAVLINK_Blimp : 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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protected:
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uint32_t telem_delay() const override;
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MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
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uint8_t sysid_my_gcs() const override;
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bool sysid_enforce() const override;
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bool params_ready() const override;
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void send_banner() 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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void send_position_target_global_int() override;
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MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) 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_int_do_reposition(const mavlink_command_int_t &packet);
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#if AP_MAVLINK_COMMAND_LONG_ENABLED
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bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
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#endif
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void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails.
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uint64_t capabilities() const override;
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virtual MAV_VTOL_STATE vtol_state() const override
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{
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return MAV_VTOL_STATE_MC;
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};
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virtual MAV_LANDED_STATE landed_state() 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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private:
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void handle_message(const mavlink_message_t &msg) 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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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_alt() const override;
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void send_pid_tuning() override;
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void send_wind() const;
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//This is 1-indexed, unlike most enums for consistency with the mavlink PID_TUNING enums.
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enum PID_SEND : uint8_t {
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VELX = 1,
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VELY = 2,
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VELZ = 3,
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VELYAW = 4,
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POSX = 5,
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POSY = 6,
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POSZ = 7,
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POSYAW = 8,
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};
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#if HAL_HIGH_LATENCY2_ENABLED
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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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};
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