mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
#pragma once
|
|
|
|
#include <GCS_MAVLink/GCS.h>
|
|
#include "GCS_Mavlink.h"
|
|
|
|
class GCS_Tracker : public GCS
|
|
{
|
|
friend class Tracker; // for access to _chan in parameter declarations
|
|
friend class GCS_MAVLINK_Tracker;
|
|
|
|
public:
|
|
|
|
// the following define expands to a pair of methods to retrieve a
|
|
// pointer to an object of the correct subclass for the link at
|
|
// offset ofs. These are of the form:
|
|
// GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
|
|
// const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
|
|
GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Tracker);
|
|
|
|
void update_vehicle_sensor_status_flags() override;
|
|
|
|
uint32_t custom_mode() const override;
|
|
MAV_TYPE frame_type() const override;
|
|
|
|
protected:
|
|
|
|
uint8_t sysid_this_mav() const override;
|
|
|
|
GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
|
|
AP_HAL::UARTDriver &uart) override {
|
|
return new GCS_MAVLINK_Tracker(params, uart);
|
|
}
|
|
|
|
private:
|
|
|
|
void request_datastream_position(uint8_t sysid, uint8_t compid);
|
|
void request_datastream_airpressure(uint8_t sysid, uint8_t compid);
|
|
|
|
};
|