mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "GCS_Mavlink.h"
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class GCS_Copter : public GCS
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{
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friend class Copter; // for access to _chan in parameter declarations
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public:
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// return the number of valid GCS objects
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uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
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// return GCS link at offset ofs
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GCS_MAVLINK_Copter &chan(uint8_t ofs) override {
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if (ofs >= num_gcs()) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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ofs = 0;
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}
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return _chan[ofs];
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}
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const GCS_MAVLINK_Copter &chan(uint8_t ofs) const override {
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if (ofs >= num_gcs()) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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ofs = 0;
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}
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return _chan[ofs];
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}
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void update_vehicle_sensor_status_flags(void) override;
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uint32_t custom_mode() const override;
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MAV_TYPE frame_type() const override;
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const char* frame_string() const override;
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bool vehicle_initialised() const override;
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bool simple_input_active() const override;
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bool supersimple_input_active() const override;
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protected:
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// minimum amount of time (in microseconds) that must remain in
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// the main scheduler loop before we are allowed to send any
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// mavlink messages. We want to prioritise the main flight
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// control loop over communications
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uint16_t min_loop_time_remaining_for_message_send_us() const override {
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return 250;
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}
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private:
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GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
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};
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