mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.1 KiB
C++
62 lines
2.1 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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class GCS_MAVLINK_Rover : 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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uint8_t sysid_my_gcs() const override;
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bool sysid_enforce() const override;
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MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
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MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
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MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
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void send_position_target_global_int() override;
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virtual bool in_hil_mode() const override;
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bool persist_streamrates() const override { return true; }
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bool set_home_to_current_location(bool lock) override;
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bool set_home(const Location& loc, bool lock) override;
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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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private:
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void handleMessage(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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void handle_rc_channels_override(const mavlink_message_t &msg) override;
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bool try_send_message(enum ap_message id) override;
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void handle_manual_control(const mavlink_message_t &msg);
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void handle_heartbeat(const mavlink_message_t &msg);
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void handle_set_attitude_target(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_position_target_global_int(const mavlink_message_t &msg);
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void handle_hil_state(const mavlink_message_t &msg);
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void handle_radio(const mavlink_message_t &msg);
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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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int16_t vfr_hud_throttle() const override;
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void send_rangefinder() const override;
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};
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