mirror of
https://github.com/ArduPilot/ardupilot.git
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77 lines
2.8 KiB
C++
77 lines
2.8 KiB
C++
#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "defines.h"
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class GCS_MAVLINK_Rover : 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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protected:
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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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bool get_target_location(Location &loc) const override;
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uint64_t capabilities() const 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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#if HAL_LOGGING_ENABLED
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uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
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#endif
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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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void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
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void handle_set_attitude_target(const mavlink_message_t &msg);
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void handle_set_position_target_local_ned(const mavlink_message_t &msg);
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void handle_set_position_target_global_int(const mavlink_message_t &msg);
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void handle_radio(const mavlink_message_t &msg);
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void handle_landing_target(const mavlink_landing_target_t &msg, uint32_t timestamp_ms) override;
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// if we receive a message where the user has not masked out
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// acceleration from the input packet we send a curt message
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// informing them:
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void send_acc_ignore_must_be_set_message(const char *msgname);
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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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#if AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
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void send_rangefinder() const override;
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#endif // AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
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#if AP_RANGEFINDER_ENABLED
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// send WATER_DEPTH - metres and temperature
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void send_water_depth();
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// state variable for the last rangefinder we sent a WATER_DEPTH
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// message for. We cycle through the rangefinder backends to
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// limit the amount of telemetry bandwidth we consume.
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uint8_t last_WATER_DEPTH_index;
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#endif
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#if HAL_HIGH_LATENCY2_ENABLED
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uint8_t high_latency_tgt_heading() const override;
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uint16_t high_latency_tgt_dist_dam() const override;
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uint8_t high_latency_tgt_airspeed() const override;
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uint8_t high_latency_wind_speed() const override;
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uint8_t high_latency_wind_direction() const override;
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#endif // HAL_HIGH_LATENCY2_ENABLED
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};
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