mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <GCS_MAVLink/GCS.h>
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#if HAL_GCS_ENABLED
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/*
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* GCS backend used for many examples and tools
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*/
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class GCS_MAVLINK_Periph : 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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private:
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uint32_t telem_delay() const override { return 0; }
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
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MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
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uint8_t sysid_my_gcs() const override;
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protected:
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// Periph information:
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
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bool set_home_to_current_location(bool _lock) override { return false; }
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bool set_home(const Location& loc, bool _lock) override { return false; }
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void send_nav_controller_output() const override {};
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void send_pid_tuning() override {};
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};
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/*
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* a GCS singleton used for many example sketches and tools
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*/
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extern const AP_HAL::HAL& hal;
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class GCS_Periph : public GCS
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{
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public:
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using GCS::GCS;
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protected:
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uint8_t sysid_this_mav() const override;
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GCS_MAVLINK_Periph *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
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AP_HAL::UARTDriver &uart) override {
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return new GCS_MAVLINK_Periph(params, uart);
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}
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private:
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// the following define expands to a pair of methods to retrieve a
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// pointer to an object of the correct subclass for the link at
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// offset ofs. These are of the form:
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// GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
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// const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
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GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Periph);
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MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; }
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uint32_t custom_mode() const override { return 3; } // magic number
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};
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#endif // HAL_GCS_ENABLED
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