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31 lines
789 B
31 lines
789 B
8 years ago
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#pragma once
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#include <GCS_MAVLink/GCS.h>
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#include "GCS_Mavlink.h"
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class GCS_Tracker : public GCS
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{
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friend class Tracker; // for access to _chan in parameter declarations
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public:
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// return the number of valid GCS objects
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uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
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// return GCS link at offset ofs
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GCS_MAVLINK_Tracker &chan(const uint8_t ofs) override { return _chan[ofs]; };
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void setup_uarts(AP_SerialManager &serial_manager) override;
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private:
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void request_datastream_position(uint8_t sysid, uint8_t compid);
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void request_datastream_airpressure(uint8_t sysid, uint8_t compid);
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GCS_MAVLINK_Tracker _chan[MAVLINK_COMM_NUM_BUFFERS];
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bool cli_enabled() const override;
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AP_HAL::BetterStream* cliSerial() override;
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};
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