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

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#include <GCS_MAVLink/GCS.h>

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  // set 0 in 4.6, remove feature in 4.7:

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#ifndef AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED

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#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 0

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#endif

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#include "defines.h"

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class GCS_MAVLINK_Rover : 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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    uint8_t sysid_my_gcs() const override;

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    bool sysid_enforce() const 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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    MAV_RESULT handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg);

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    void send_position_target_global_int() override;

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    uint64_t capabilities() const 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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#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 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 handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;

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    void handle_set_attitude_target(const mavlink_message_t &msg);

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    void handle_set_position_target_local_ned(const mavlink_message_t &msg);

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    void handle_set_position_target_global_int(const mavlink_message_t &msg);

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    void handle_radio(const mavlink_message_t &msg);

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

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    void send_servo_out();

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    void packetReceived(const mavlink_status_t &status, 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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    int16_t vfr_hud_throttle() const override;

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#if AP_RANGEFINDER_ENABLED

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    void send_rangefinder() const override;

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    // send WATER_DEPTH - metres and temperature

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    void send_water_depth();

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    // state variable for the last rangefinder we sent a WATER_DEPTH

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    // message for.  We cycle through the rangefinder backends to

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    // limit the amount of telemetry bandwidth we consume.

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    uint8_t last_WATER_DEPTH_index;

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#endif

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#if HAL_HIGH_LATENCY2_ENABLED

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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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};

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