Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : 
       5             : class GCS_MAVLINK_Tracker : public GCS_MAVLINK
       6             : {
       7             : 
       8             : public:
       9             : 
      10             :     using GCS_MAVLINK::GCS_MAVLINK;
      11             : 
      12             : protected:
      13             : 
      14             :     MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet) override;
      15             :     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
      16             :     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      17             : 
      18        1463 :     int32_t global_position_int_relative_alt() const override {
      19        1463 :         return 0; // what if we have been picked up and carried somewhere?
      20             :     }
      21             : 
      22             :     void send_attitude_target() override;
      23             :     void send_nav_controller_output() const override;
      24             :     void send_pid_tuning() override;
      25             : 
      26             :     // Send the mode with the given index (not mode number!) return the total number of modes
      27             :     // Index starts at 1
      28             :     uint8_t send_available_mode(uint8_t index) const override;
      29             : 
      30             :     bool try_send_message(enum ap_message id) override;
      31             : 
      32             : private:
      33             : 
      34             :     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
      35             :     void mavlink_check_target(const mavlink_message_t &msg);
      36             :     void handle_message(const mavlink_message_t &msg) override;
      37             :     void handle_message_mission_write_partial_list(const mavlink_message_t &msg);
      38             :     void handle_message_mission_item(const mavlink_message_t &msg);
      39             :     void handle_message_manual_control(const mavlink_message_t &msg);
      40             :     void handle_message_global_position_int(const mavlink_message_t &msg);
      41             :     void handle_message_scaled_pressure(const mavlink_message_t &msg);
      42             :     void handle_set_attitude_target(const mavlink_message_t &msg);
      43             : 
      44             :     void send_global_position_int() override;
      45             : 
      46             :     uint8_t base_mode() const override;
      47             :     MAV_STATE vehicle_system_status() const override;
      48             : 
      49             :     bool waypoint_receiving;
      50             : };