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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.h
Views: 1798
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#pragma once

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#include "AP_Frsky_MAVlite.h"

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#include "AP_Frsky_Telem.h"

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#include "AP_Frsky_MAVlite_Message.h"

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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL

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class AP_Frsky_MAVliteMsgHandler {

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public:

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    FUNCTOR_TYPEDEF(send_mavlite_fn_t, bool, const AP_Frsky_MAVlite_Message &);

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    AP_Frsky_MAVliteMsgHandler(send_mavlite_fn_t send_fn) :

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        _send_fn(send_fn) {}

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    void process_message(const AP_Frsky_MAVlite_Message &rxmsg);

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private:

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    // mavlite messages tx/rx methods

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    bool send_message(AP_Frsky_MAVlite_Message &txmsg);

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    // gcs mavlite methods

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    void handle_param_request_read(const AP_Frsky_MAVlite_Message &rxmsg);

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    void handle_param_set(const AP_Frsky_MAVlite_Message &rxmsg);

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    void handle_command_long(const AP_Frsky_MAVlite_Message &rxmsg);

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    MAV_RESULT handle_command(const mavlink_command_long_t &mav_command_long);

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    MAV_RESULT handle_command_preflight_calibration_baro(const mavlink_command_long_t &mav_command_long);

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    MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &mav_command_long);

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    MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long);

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    MAV_RESULT handle_command_preflight_reboot(const mavlink_command_long_t &mav_command_long);

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    void send_command_ack(const MAV_RESULT mav_result, const uint16_t cmdid);

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    send_mavlite_fn_t _send_fn;

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};

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#endif

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