AntennaTracker/GCS_Tracker.h

   1 #pragma once
   2
   3 #include <GCS_MAVLink/GCS.h>
   4 #include "GCS_Mavlink.h"
   5
   6 class GCS_Tracker : public GCS
   7 {
   8     friend class Tracker; // for access to _chan in parameter declarations
   9     friend class GCS_MAVLINK_Tracker;
  10
  11 public:
  12
  13     // the following define expands to a pair of methods to retrieve a
  14     // pointer to an object of the correct subclass for the link at
  15     // offset ofs.  These are of the form:
  16     // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
  17     // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
  18     GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Tracker);
  19
  20     void update_vehicle_sensor_status_flags() override;
  21
  22     uint32_t custom_mode() const override;
  23     MAV_TYPE frame_type() const override;
  24
  25 protected:
  26
  27     uint8_t sysid_this_mav() const override;
  28
  29     GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
  30                                                  AP_HAL::UARTDriver &uart) override {
  31         return new GCS_MAVLINK_Tracker(params, uart);
  32     }
  33
  34 private:
  35
  36     void request_datastream_position(uint8_t sysid, uint8_t compid);
  37     void request_datastream_airpressure(uint8_t sysid, uint8_t compid);
  38
  39 };