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.
48 lines
1.3 KiB
48 lines
1.3 KiB
#pragma once |
|
|
|
#include <GCS_MAVLink/GCS.h> |
|
#include "GCS_Mavlink.h" |
|
|
|
class GCS_Tracker : public GCS |
|
{ |
|
friend class Tracker; // for access to _chan in parameter declarations |
|
friend class GCS_MAVLINK_Tracker; |
|
|
|
public: |
|
|
|
// return GCS link at offset ofs |
|
GCS_MAVLINK_Tracker *chan(const uint8_t ofs) override { |
|
if (ofs > _num_gcs) { |
|
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); |
|
return nullptr; |
|
} |
|
return (GCS_MAVLINK_Tracker*)_chan[ofs]; |
|
} |
|
const GCS_MAVLINK_Tracker *chan(const uint8_t ofs) const override { |
|
if (ofs > _num_gcs) { |
|
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset); |
|
return nullptr; |
|
} |
|
return (GCS_MAVLINK_Tracker*)_chan[ofs]; |
|
} |
|
|
|
void update_vehicle_sensor_status_flags() override; |
|
|
|
uint32_t custom_mode() const override; |
|
MAV_TYPE frame_type() const override; |
|
|
|
protected: |
|
|
|
uint8_t sysid_this_mav() const override; |
|
|
|
GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, |
|
AP_HAL::UARTDriver &uart) override { |
|
return new GCS_MAVLINK_Tracker(params, uart); |
|
} |
|
|
|
private: |
|
|
|
void request_datastream_position(uint8_t sysid, uint8_t compid); |
|
void request_datastream_airpressure(uint8_t sysid, uint8_t compid); |
|
|
|
};
|
|
|