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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduSub/GCS_Sub.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_Sub.h"

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class GCS_Sub : public GCS

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{

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

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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_Sub);

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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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    bool vehicle_initialised() const override;

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protected:

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    uint8_t sysid_this_mav() const override;

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    // minimum amount of time (in microseconds) that must remain in

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    // the main scheduler loop before we are allowed to send any

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    // mavlink messages.  We want to prioritise the main flight

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    // control loop over communications

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    uint16_t min_loop_time_remaining_for_message_send_us() const override {

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        return 250;

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    }

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    GCS_MAVLINK_Sub *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_Sub(params, uart);

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    }

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};

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