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

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#include <GCS_MAVLink/GCS.h>

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#include <AP_Winch/AP_Winch_config.h>

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#include "defines.h"

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#ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED

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#define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1

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#endif

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class GCS_MAVLINK_Copter : 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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    uint32_t telem_delay() const override;

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    MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;

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    uint8_t sysid_my_gcs() const override;

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    bool sysid_enforce() const override;

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    bool params_ready() const override;

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    void send_banner() 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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    void send_attitude_target() override;

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    void send_position_target_global_int() override;

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    void send_position_target_local_ned() override;

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    MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;

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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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#if HAL_MOUNT_ENABLED

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

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#endif

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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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    MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);

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#if HAL_MOUNT_ENABLED

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    void handle_mount_message(const mavlink_message_t &msg) override;

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#endif

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    void handle_message_set_attitude_target(const mavlink_message_t &msg);

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    void handle_message_set_position_target_global_int(const mavlink_message_t &msg);

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    void handle_message_set_position_target_local_ned(const mavlink_message_t &msg);

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    void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;

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    void send_nav_controller_output() const override;

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    uint64_t capabilities() const override;

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    virtual MAV_VTOL_STATE vtol_state() const override { return MAV_VTOL_STATE_MC; };

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    virtual MAV_LANDED_STATE landed_state() const 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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#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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    // sanity check velocity or acceleration vector components are numbers

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    // (e.g. not NaN) and below 1000. vec argument units are in meters/second or

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    // metres/second/second

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    bool sane_vel_or_acc_vector(const Vector3f &vec) const;

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    MISSION_STATE mission_state(const class AP_Mission &mission) const override;

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    void handle_message(const mavlink_message_t &msg) override;

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    void handle_command_ack(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 packetReceived(const mavlink_status_t &status,

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                        const mavlink_message_t &msg) 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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    float vfr_hud_airspeed() 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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    void send_pid_tuning() override;

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#if AP_WINCH_ENABLED

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    void send_winch_status() const override;

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#endif

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    void send_wind() const;

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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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    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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    MAV_RESULT handle_MAV_CMD_CONDITION_YAW(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_DO_PARACHUTE(const mavlink_command_int_t &packet);

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#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED

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    MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);

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    MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);

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    MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);

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#endif

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#if AP_MAVLINK_COMMAND_LONG_ENABLED

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    bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;

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#endif

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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_NAV_TAKEOFF(const mavlink_command_int_t &packet);

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#if AP_WINCH_ENABLED

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    MAV_RESULT handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet);

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#endif

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};

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