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

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#include <GCS_MAVLink/GCS.h>

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#include "defines.h"

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class GCS_MAVLINK_Blimp : 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_position_target_global_int() 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_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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#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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    void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails.

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    uint64_t capabilities() const override;

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    virtual MAV_VTOL_STATE vtol_state() const override

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    {

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        return MAV_VTOL_STATE_MC;

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    };

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    virtual MAV_LANDED_STATE landed_state() const 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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    void handle_message(const mavlink_message_t &msg) 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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    void send_wind() const;

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    //This is 1-indexed, unlike most enums for consistency with the mavlink PID_TUNING enums.

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    enum PID_SEND : uint8_t {

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        VELX =        1,

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        VELY =        2,

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        VELZ =        3,

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        VELYAW =      4,

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        POSX =        5,

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        POSY =        6,

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        POSZ =        7,

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        POSYAW =      8,

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    };

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#if HAL_HIGH_LATENCY2_ENABLED

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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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};

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