mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.3 KiB
C++
45 lines
1.3 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "GCS_Mavlink.h"
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class GCS_Plane : public GCS
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{
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friend class Plane; // for access to _chan in parameter declarations
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public:
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// return GCS link at offset ofs
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GCS_MAVLINK_Plane *chan(const uint8_t ofs) override {
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if (ofs > _num_gcs) {
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Plane *)_chan[ofs];
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}
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const GCS_MAVLINK_Plane *chan(const uint8_t ofs) const override {
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if (ofs > _num_gcs) {
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
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return nullptr;
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}
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return (GCS_MAVLINK_Plane *)_chan[ofs];
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}
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protected:
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uint8_t sysid_this_mav() const override;
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void update_vehicle_sensor_status_flags(void) override;
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uint32_t custom_mode() const override;
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MAV_TYPE frame_type() const override;
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GCS_MAVLINK_Plane *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
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AP_HAL::UARTDriver &uart) override {
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return new GCS_MAVLINK_Plane(params, uart);
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}
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AP_GPS::GPS_Status min_status_for_gps_healthy() const override {
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// NO_FIX simply excludes NO_GPS
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return AP_GPS::GPS_OK_FIX_3D;
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}
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};
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