mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.9 KiB
C++
48 lines
1.9 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS)
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class GCS_MAVLINK_Tracker : public GCS_MAVLINK
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{
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public:
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protected:
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// telem_delay is not used by Tracker but is pure virtual, thus
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// this implementaiton. it probably *should* be used by Tracker,
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// as currently Tracker may brick XBees
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uint32_t telem_delay() const override { return 0; }
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AP_Mission *get_mission() override { return nullptr; };
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AP_Rally *get_rally() const override { return nullptr; };
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uint8_t sysid_my_gcs() const override;
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bool set_mode(uint8_t mode) override;
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MAV_RESULT _handle_command_preflight_calibration_baro() override;
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MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
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int32_t global_position_int_relative_alt() const override {
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return 0; // what if we have been picked up and carried somewhere?
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}
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private:
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void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
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void mavlink_check_target(const mavlink_message_t &msg);
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void handleMessage(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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bool try_send_message(enum ap_message id) override;
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MAV_TYPE frame_type() const override;
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MAV_MODE base_mode() const override;
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uint32_t custom_mode() const override;
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MAV_STATE system_status() const override;
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};
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