AntennaTracker/GCS_Mavlink.h

   1 #pragma once
   2
   3 #include <GCS_MAVLink/GCS.h>
   4
   5 class GCS_MAVLINK_Tracker : public GCS_MAVLINK
   6 {
   7
   8 public:
   9
  10     using GCS_MAVLINK::GCS_MAVLINK;
  11
  12     uint8_t sysid_my_gcs() const override;
  13
  14 protected:
  15
  16     // telem_delay is not used by Tracker but is pure virtual, thus
  17     // this implementation.  it probably *should* be used by Tracker,
  18     // as currently Tracker may brick XBees
  19     uint32_t telem_delay() const override { return 0; }
  20
  21
  22     MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet) override;
  23     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
  24     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
  25
  26     int32_t global_position_int_relative_alt() const override {
  27         return 0; // what if we have been picked up and carried somewhere?
  28     }
  29
  30     void send_nav_controller_output() const override;
  31     void send_pid_tuning() override;
  32
  33 private:
  34
  35     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
  36     void mavlink_check_target(const mavlink_message_t &msg);
  37     void handle_message(const mavlink_message_t &msg) override;
  38     void handle_message_mission_write_partial_list(const mavlink_message_t &msg);
  39     void handle_message_mission_item(const mavlink_message_t &msg);
  40     void handle_message_manual_control(const mavlink_message_t &msg);
  41     void handle_message_global_position_int(const mavlink_message_t &msg);
  42     void handle_message_scaled_pressure(const mavlink_message_t &msg);
  43     void handle_set_attitude_target(const mavlink_message_t &msg);
  44
  45     void send_global_position_int() override;
  46
  47     MAV_MODE base_mode() const override;
  48     MAV_STATE vehicle_system_status() const override;
  49
  50     bool waypoint_receiving;
  51 };