You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.7 KiB
84 lines
2.7 KiB
#pragma once |
|
|
|
#include <GCS_MAVLink/GCS.h> |
|
|
|
class GCS_MAVLINK_Blimp : public GCS_MAVLINK |
|
{ |
|
|
|
public: |
|
|
|
using GCS_MAVLINK::GCS_MAVLINK; |
|
|
|
protected: |
|
|
|
uint32_t telem_delay() const override; |
|
|
|
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override; |
|
|
|
uint8_t sysid_my_gcs() const override; |
|
bool sysid_enforce() const override; |
|
|
|
bool params_ready() const override; |
|
void send_banner() override; |
|
|
|
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override; |
|
|
|
void send_position_target_global_int() override; |
|
|
|
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override; |
|
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override; |
|
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override; |
|
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override; |
|
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override; |
|
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet); |
|
|
|
|
|
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; |
|
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED; |
|
void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails. |
|
uint64_t capabilities() const override; |
|
|
|
virtual MAV_VTOL_STATE vtol_state() const override |
|
{ |
|
return MAV_VTOL_STATE_MC; |
|
}; |
|
virtual MAV_LANDED_STATE landed_state() const override; |
|
|
|
private: |
|
|
|
void handleMessage(const mavlink_message_t &msg) override; |
|
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; |
|
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; |
|
bool try_send_message(enum ap_message id) override; |
|
|
|
void packetReceived(const mavlink_status_t &status, |
|
const mavlink_message_t &msg) override; |
|
|
|
MAV_MODE base_mode() const override; |
|
MAV_STATE vehicle_system_status() const override; |
|
|
|
float vfr_hud_airspeed() const override; |
|
int16_t vfr_hud_throttle() const override; |
|
float vfr_hud_alt() const override; |
|
|
|
void send_pid_tuning() override; |
|
|
|
void send_wind() const; |
|
|
|
//This is 1-indexed, unlike most enums for consistency with the mavlink PID_TUNING enums. |
|
enum PID_SEND : uint8_t { |
|
VELX = 1, |
|
VELY = 2, |
|
VELZ = 3, |
|
VELYAW = 4, |
|
POSX = 5, |
|
POSY = 6, |
|
POSZ = 7, |
|
POSYAW = 8, |
|
}; |
|
|
|
#if HAL_HIGH_LATENCY2_ENABLED |
|
uint8_t high_latency_wind_speed() const override; |
|
uint8_t high_latency_wind_direction() const override; |
|
#endif // HAL_HIGH_LATENCY2_ENABLED |
|
};
|
|
|