mirror of https://github.com/ArduPilot/ardupilot
58 lines
2.0 KiB
C++
58 lines
2.0 KiB
C++
#include "GCS.h"
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const AP_FWVersion fwver
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{
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major: 3,
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minor: 1,
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patch: 4,
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fw_type: FIRMWARE_VERSION_TYPE_DEV,
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fw_string: "Dummy GCS"
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};
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/*
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* GCS backend used for many examples and tools
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*/
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class GCS_MAVLINK_Dummy : public GCS_MAVLINK
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{
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uint32_t telem_delay() const override { return 0; }
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void handleMessage(mavlink_message_t * msg) override {}
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bool try_send_message(enum ap_message id) { return true; }
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override {}
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protected:
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Compass *get_compass() const override { return nullptr; };
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AP_Mission *get_mission() override { return nullptr; }
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AP_Rally *get_rally() const override { return nullptr; };
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AP_Camera *get_camera() const override { return nullptr; };
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const AP_FWVersion &get_fwver() const override { return fwver; }
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void set_ekf_origin(const Location& loc) override { };
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uint8_t sysid_my_gcs() const override { return 1; }
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bool set_mode(uint8_t mode) override { return false; };
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// dummy information:
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MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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uint32_t custom_mode() const override { return 3; } // magic number
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MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
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};
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/*
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* a GCS singleton used for many example sketches and tools
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*/
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extern const AP_HAL::HAL& hal;
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class GCS_Dummy : public GCS
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{
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GCS_MAVLINK_Dummy dummy_backend;
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uint8_t num_gcs() const override { return 1; }
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GCS_MAVLINK_Dummy &chan(const uint8_t ofs) override { return dummy_backend; }
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const GCS_MAVLINK_Dummy &chan(const uint8_t ofs) const override { return dummy_backend; };
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void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
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};
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