Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : #include "GCS_MAVLink_Copter.h"
       5             : 
       6             : class GCS_Copter : public GCS
       7             : {
       8             :     friend class Copter; // for access to _chan in parameter declarations
       9             : 
      10             : public:
      11             : 
      12             :     // the following define expands to a pair of methods to retrieve a
      13             :     // pointer to an object of the correct subclass for the link at
      14             :     // offset ofs.  These are of the form:
      15             :     // GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override;
      16             :     // const GCS_MAVLINK_XXXX *chan(const uint8_t ofs) override const;
      17   572953477 :     GCS_MAVLINK_CHAN_METHOD_DEFINITIONS(GCS_MAVLINK_Copter);
      18             : 
      19             :     void update_vehicle_sensor_status_flags(void) override;
      20             : 
      21             :     uint32_t custom_mode() const override;
      22             :     MAV_TYPE frame_type() const override;
      23             : 
      24             :     const char* frame_string() const override;
      25             : 
      26             :     bool vehicle_initialised() const override;
      27             : 
      28             :     bool simple_input_active() const override;
      29             :     bool supersimple_input_active() const override;
      30             : 
      31             : protected:
      32             : 
      33             : 
      34             :     // minimum amount of time (in microseconds) that must remain in
      35             :     // the main scheduler loop before we are allowed to send any
      36             :     // mavlink messages.  We want to prioritise the main flight
      37             :     // control loop over communications
      38   112085409 :     uint16_t min_loop_time_remaining_for_message_send_us() const override {
      39   112085409 :         return 250;
      40             :     }
      41             : 
      42        3044 :     GCS_MAVLINK_Copter *new_gcs_mavlink_backend(AP_HAL::UARTDriver &uart) override {
      43        3044 :         return NEW_NOTHROW GCS_MAVLINK_Copter(uart);
      44             :     }
      45             : 
      46             : };