mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.1 KiB
C++
112 lines
4.1 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Winch/AP_Winch_config.h>
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#ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
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#define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
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#endif
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class GCS_MAVLINK_Copter : 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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MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) 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 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_int_t &packet, const mavlink_message_t &msg) override;
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void send_attitude_target() 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_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
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#if HAL_MOUNT_ENABLED
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MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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#endif
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MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
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MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);
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#if HAL_MOUNT_ENABLED
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void handle_mount_message(const mavlink_message_t &msg) override;
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#endif
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void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) 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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void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
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private:
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// sanity check velocity or acceleration vector components are numbers
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// (e.g. not NaN) and below 1000. vec argument units are in meters/second or
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// metres/second/second
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bool sane_vel_or_acc_vector(const Vector3f &vec) const;
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MISSION_STATE mission_state(const class AP_Mission &mission) const override;
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void handleMessage(const 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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bool try_send_message(enum ap_message id) override;
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void packetReceived(const mavlink_status_t &status,
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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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float vfr_hud_airspeed() 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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void send_winch_status() const override;
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void send_wind() const;
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#if HAL_HIGH_LATENCY2_ENABLED
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int16_t high_latency_target_altitude() const override;
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uint8_t high_latency_tgt_heading() const override;
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uint16_t high_latency_tgt_dist() const override;
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uint8_t high_latency_tgt_airspeed() const override;
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uint8_t high_latency_wind_speed() const override;
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uint8_t high_latency_wind_direction() const override;
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#endif // HAL_HIGH_LATENCY2_ENABLED
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#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
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MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
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#endif
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#if AP_WINCH_ENABLED
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MAV_RESULT handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet);
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#endif
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};
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