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44 lines
1.2 KiB
44 lines
1.2 KiB
#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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friend class GCS_MAVLINK_Tracker; |
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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(uint8_t ofs) override { |
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if (ofs >= num_gcs()) { |
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset); |
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ofs = 0; |
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} |
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return _chan[ofs]; |
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} |
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const GCS_MAVLINK_Tracker &chan(uint8_t ofs) const override { |
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if (ofs >= num_gcs()) { |
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset); |
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ofs = 0; |
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} |
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return _chan[ofs]; |
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} |
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void update_vehicle_sensor_status_flags() override; |
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uint32_t custom_mode() const override; |
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MAV_TYPE frame_type() const 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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};
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