ardupilot/ArduSub/GCS_Mavlink.h

69 lines
2.5 KiB
C++

#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Sub : public GCS_MAVLINK {
public:
using GCS_MAVLINK::GCS_MAVLINK;
uint8_t sysid_my_gcs() const override;
protected:
uint32_t telem_delay() const override {
return 0;
};
MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
// override sending of scaled_pressure3 to send on-board temperature:
void send_scaled_pressure3() override;
int32_t global_position_int_alt() const override;
int32_t global_position_int_relative_alt() const override;
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_banner() override;
void send_nav_controller_output() const override;
void send_pid_tuning() override;
uint64_t capabilities() const override;
private:
void handleMessage(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
bool send_info(void);
MAV_MODE base_mode() const override;
MAV_STATE vehicle_system_status() const override;
int16_t vfr_hud_throttle() const override;
MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet);
#if HAL_HIGH_LATENCY2_ENABLED
int16_t high_latency_target_altitude() const override;
uint8_t high_latency_tgt_heading() const override;
uint16_t high_latency_tgt_dist() const override;
uint8_t high_latency_tgt_airspeed() const override;
#endif // HAL_HIGH_LATENCY2_ENABLED
};