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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/AntennaTracker/GCS_MAVLink_Tracker.h
Views: 1798
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#pragma once

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#include <GCS_MAVLink/GCS.h>

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class GCS_MAVLINK_Tracker : 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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    uint8_t sysid_my_gcs() const override;

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protected:

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    // telem_delay is not used by Tracker but is pure virtual, thus

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    // this implementation.  it probably *should* be used by Tracker,

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    // as currently Tracker may brick XBees

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    uint32_t telem_delay() const override { return 0; }

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    MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet) 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_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;

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    int32_t global_position_int_relative_alt() const override {

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        return 0; // what if we have been picked up and carried somewhere?

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    }

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    void send_nav_controller_output() const override;

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    void send_pid_tuning() 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 packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;

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    void mavlink_check_target(const mavlink_message_t &msg);

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    void handle_message(const mavlink_message_t &msg) override;

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    void handle_message_mission_write_partial_list(const mavlink_message_t &msg);

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    void handle_message_mission_item(const mavlink_message_t &msg);

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    void handle_message_manual_control(const mavlink_message_t &msg);

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    void handle_message_global_position_int(const mavlink_message_t &msg);

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    void handle_message_scaled_pressure(const mavlink_message_t &msg);

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    void handle_set_attitude_target(const mavlink_message_t &msg);

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    void send_global_position_int() override;

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    MAV_MODE base_mode() const override;

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    MAV_STATE vehicle_system_status() const override;

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    bool waypoint_receiving;

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};

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