mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.3 KiB
C++
69 lines
2.3 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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class GCS_MAVLINK_Copter : public GCS_MAVLINK
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{
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public:
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protected:
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uint32_t telem_delay() const override;
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MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
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AP_AdvancedFailsafe *get_advanced_failsafe() 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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bool set_mode(uint8_t mode) override;
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bool params_ready() const override;
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void send_banner() override;
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MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
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void send_position_target_global_int() override;
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void send_position_target_local_ned() override;
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MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
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MAV_RESULT handle_command_mount(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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void handle_mount_message(const mavlink_message_t* msg) override;
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bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
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bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
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void send_nav_controller_output() const override;
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uint64_t capabilities() const override;
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virtual MAV_VTOL_STATE vtol_state() const override { return MAV_VTOL_STATE_MC; };
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virtual MAV_LANDED_STATE landed_state() const override;
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bool allow_disarm() const override;
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private:
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void handleMessage(mavlink_message_t * msg) override;
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void handle_command_ack(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 packetReceived(const mavlink_status_t &status,
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mavlink_message_t &msg) override;
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MAV_MODE base_mode() const override;
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MAV_STATE system_status() const override;
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int16_t vfr_hud_throttle() const override;
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float vfr_hud_alt() const override;
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void send_pid_tuning() override;
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};
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