ardupilot/ArduCopter/GCS_Mavlink.h

70 lines
2.4 KiB
C++

#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Copter : public GCS_MAVLINK
{
public:
using GCS_MAVLINK::GCS_MAVLINK;
protected:
uint32_t telem_delay() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
uint8_t sysid_my_gcs() const override;
bool sysid_enforce() const override;
bool params_ready() const override;
void send_banner() override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
void send_position_target_global_int() override;
void send_position_target_local_ned() override;
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
void handle_mount_message(const mavlink_message_t &msg) 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_nav_controller_output() const override;
uint64_t capabilities() const override;
virtual MAV_VTOL_STATE vtol_state() const override { return MAV_VTOL_STATE_MC; };
virtual MAV_LANDED_STATE landed_state() const override;
bool allow_disarm() const override;
private:
void handleMessage(const mavlink_message_t &msg) override;
void handle_command_ack(const mavlink_message_t &msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
void handle_rc_channels_override(const mavlink_message_t &msg) override;
bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg) override;
MAV_MODE base_mode() const override;
MAV_STATE vehicle_system_status() const override;
int16_t vfr_hud_throttle() const override;
float vfr_hud_alt() const override;
void send_pid_tuning() override;
void send_winch_status() const override;
};