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https://github.com/ArduPilot/ardupilot.git
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68 lines
2.6 KiB
C++
68 lines
2.6 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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class GCS_MAVLINK_Sub : public GCS_MAVLINK {
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public:
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using GCS_MAVLINK::GCS_MAVLINK;
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protected:
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MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
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MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
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MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) 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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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_int_do_reposition(const mavlink_command_int_t &packet);
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void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
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// override sending of scaled_pressure3 to send on-board temperature:
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void send_scaled_pressure3() override;
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int32_t global_position_int_alt() const override;
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int32_t global_position_int_relative_alt() const override;
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void send_banner() override;
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void send_nav_controller_output() const override;
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void send_pid_tuning() override;
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uint64_t capabilities() const override;
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// Send the mode with the given index (not mode number!) return the total number of modes
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// Index starts at 1
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uint8_t send_available_mode(uint8_t index) const override;
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private:
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void handle_message(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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bool send_info(void);
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uint8_t base_mode() const override;
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MAV_STATE vehicle_system_status() 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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MAV_RESULT handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet);
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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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#endif // HAL_HIGH_LATENCY2_ENABLED
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};
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