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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduSub/GCS_MAVLink_Sub.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_Sub : public GCS_MAVLINK {

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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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    uint32_t telem_delay() const override {

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        return 0;

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    };

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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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    // 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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    MAV_MODE 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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