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50 lines
1.5 KiB
50 lines
1.5 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_Sub : public GCS |
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{ |
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friend class Sub; // for access to _chan in parameter declarations |
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public: |
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// return GCS link at offset ofs |
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GCS_MAVLINK_Sub *chan(const 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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return nullptr; |
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} |
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return (GCS_MAVLINK_Sub*)_chan[ofs]; |
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} |
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const GCS_MAVLINK_Sub *chan(const 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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return nullptr; |
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} |
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return (GCS_MAVLINK_Sub*)_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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bool vehicle_initialised() const override; |
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protected: |
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// minimum amount of time (in microseconds) that must remain in |
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// the main scheduler loop before we are allowed to send any |
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// mavlink messages. We want to prioritise the main flight |
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// control loop over communications |
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uint16_t min_loop_time_remaining_for_message_send_us() const override { |
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return 250; |
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} |
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GCS_MAVLINK_Sub *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_Sub(params, uart); |
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} |
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};
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