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

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#include <GCS_MAVLink/GCS.h>

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#include "GCS_MAVLink_Tracker.h"

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class GCS_Tracker : public GCS

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{

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    friend class Tracker; // for access to _chan in parameter declarations

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    friend class GCS_MAVLINK_Tracker;

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public:

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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_Tracker);

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    void update_vehicle_sensor_status_flags() 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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protected:

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    uint8_t sysid_this_mav() const override;

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    GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,

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                                                 AP_HAL::UARTDriver &uart) override {

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        return NEW_NOTHROW GCS_MAVLINK_Tracker(params, uart);

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    }

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private:

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    void request_datastream_position(uint8_t sysid, uint8_t compid);

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    void request_datastream_airpressure(uint8_t sysid, uint8_t compid);

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};

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