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91 lines
2.8 KiB
91 lines
2.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <GCS_MAVLink/GCS.h> |
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#if HAL_GCS_ENABLED |
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/* |
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* GCS backend used for many examples and tools |
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*/ |
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class GCS_MAVLINK_Periph : 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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private: |
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uint32_t telem_delay() const override { return 0; } |
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void handleMessage(const mavlink_message_t &msg) override { handle_common_message(msg); } |
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bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; } |
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MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override; |
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protected: |
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uint8_t sysid_my_gcs() const override; |
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// Periph information: |
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; } |
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MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; } |
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bool set_home_to_current_location(bool _lock) override { return false; } |
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bool set_home(const Location& loc, bool _lock) override { return false; } |
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void send_nav_controller_output() const override {}; |
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void send_pid_tuning() override {}; |
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}; |
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/* |
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* a GCS singleton used for many example sketches and tools |
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*/ |
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extern const AP_HAL::HAL& hal; |
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class GCS_Periph : public GCS |
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{ |
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public: |
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using GCS::GCS; |
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protected: |
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uint8_t sysid_this_mav() const override; |
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GCS_MAVLINK_Periph *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, |
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AP_HAL::UARTDriver &uart) override { |
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return new GCS_MAVLINK_Periph(params, uart); |
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} |
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private: |
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GCS_MAVLINK_Periph *chan(const uint8_t ofs) override { |
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if (ofs > _num_gcs) { |
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); |
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return nullptr; |
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} |
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return (GCS_MAVLINK_Periph *)_chan[ofs]; |
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}; |
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const GCS_MAVLINK_Periph *chan(const uint8_t ofs) const override { |
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if (ofs > _num_gcs) { |
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INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); |
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return nullptr; |
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} |
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return (GCS_MAVLINK_Periph *)_chan[ofs]; |
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}; |
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MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; } |
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uint32_t custom_mode() const override { return 3; } // magic number |
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}; |
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#endif // HAL_GCS_ENABLED
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