mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#pragma once
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#include "AP_Frsky_MAVlite.h"
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#include "AP_Frsky_Telem.h"
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#include "AP_Frsky_MAVlite_Message.h"
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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class AP_Frsky_MAVliteMsgHandler {
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public:
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FUNCTOR_TYPEDEF(send_mavlite_fn_t, bool, const AP_Frsky_MAVlite_Message &);
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AP_Frsky_MAVliteMsgHandler(send_mavlite_fn_t send_fn) :
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_send_fn(send_fn) {}
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void process_message(const AP_Frsky_MAVlite_Message &rxmsg);
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private:
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// mavlite messages tx/rx methods
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bool send_message(AP_Frsky_MAVlite_Message &txmsg);
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// gcs mavlite methods
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void handle_param_request_read(const AP_Frsky_MAVlite_Message &rxmsg);
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void handle_param_set(const AP_Frsky_MAVlite_Message &rxmsg);
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void handle_command_long(const AP_Frsky_MAVlite_Message &rxmsg);
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MAV_RESULT handle_command(const mavlink_command_long_t &mav_command_long);
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MAV_RESULT handle_command_preflight_calibration_baro(const mavlink_command_long_t &mav_command_long);
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MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &mav_command_long);
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MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long);
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MAV_RESULT handle_command_preflight_reboot(const mavlink_command_long_t &mav_command_long);
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void send_command_ack(const MAV_RESULT mav_result, const uint16_t cmdid);
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send_mavlite_fn_t _send_fn;
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};
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#endif
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