Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : #include <AP_Winch/AP_Winch_config.h>
       5             : #include "defines.h"
       6             : #include "config.h"
       7             : 
       8             : #ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
       9             : #define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
      10             : #endif
      11             : 
      12             : class GCS_MAVLINK_Copter : public GCS_MAVLINK
      13             : {
      14             : 
      15             : public:
      16             : 
      17             :     using GCS_MAVLINK::GCS_MAVLINK;
      18             : 
      19             : protected:
      20             : 
      21             :     MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
      22             : 
      23             :     bool params_ready() const override;
      24             :     void send_banner() override;
      25             : 
      26             :     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      27             : 
      28             :     void send_attitude_target() override;
      29             :     bool get_target_location(Location &loc) const override;
      30             :     void send_position_target_local_ned() override;
      31             : 
      32             :     MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
      33             :     MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      34             : #if HAL_MOUNT_ENABLED
      35             :     MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      36             : #endif
      37             :     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      38             :     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
      39             :     MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);
      40             : 
      41             :     void handle_message_set_attitude_target(const mavlink_message_t &msg);
      42             :     void handle_message_set_position_target_global_int(const mavlink_message_t &msg);
      43             :     void handle_message_set_position_target_local_ned(const mavlink_message_t &msg);
      44             : 
      45             :     void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
      46             : 
      47             :     void send_nav_controller_output() const override;
      48             :     uint64_t capabilities() const override;
      49             : 
      50         288 :     virtual MAV_VTOL_STATE vtol_state() const override { return MAV_VTOL_STATE_MC; };
      51             :     virtual MAV_LANDED_STATE landed_state() const override;
      52             : 
      53             :     void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
      54             : 
      55             : #if HAL_LOGGING_ENABLED
      56           0 :     uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
      57             : #endif
      58             : 
      59             :     // Send the mode with the given index (not mode number!) return the total number of modes
      60             :     // Index starts at 1
      61             :     uint8_t send_available_mode(uint8_t index) const override;
      62             : 
      63             : private:
      64             : 
      65             :     // sanity check velocity or acceleration vector components are numbers
      66             :     // (e.g. not NaN) and below 1000. vec argument units are in meters/second or
      67             :     // metres/second/second
      68             :     bool sane_vel_or_acc_vector(const Vector3f &vec) const;
      69             : 
      70             : #if MODE_AUTO_ENABLED
      71             :     MISSION_STATE mission_state(const class AP_Mission &mission) const override;
      72             : #endif  // MODE_AUTO_ENABLED
      73             : 
      74             :     void handle_message(const mavlink_message_t &msg) override;
      75             :     void handle_command_ack(const mavlink_message_t &msg) override;
      76             :     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
      77             :     bool try_send_message(enum ap_message id) override;
      78             : 
      79             :     void packetReceived(const mavlink_status_t &status,
      80             :                         const mavlink_message_t &msg) override;
      81             : 
      82             :     uint8_t base_mode() const override;
      83             :     MAV_STATE vehicle_system_status() const override;
      84             : 
      85             :     float vfr_hud_airspeed() const override;
      86             :     int16_t vfr_hud_throttle() const override;
      87             :     float vfr_hud_alt() const override;
      88             : 
      89             :     void send_pid_tuning() override;
      90             : 
      91             : #if AP_WINCH_ENABLED
      92             :     void send_winch_status() const override;
      93             : #endif
      94             : 
      95             :     void send_wind() const;
      96             : 
      97             : #if HAL_HIGH_LATENCY2_ENABLED
      98             :     int16_t high_latency_target_altitude() const override;
      99             :     uint8_t high_latency_tgt_heading() const override;
     100             :     uint16_t high_latency_tgt_dist_dam() const override;
     101             :     uint8_t high_latency_tgt_airspeed() const override;
     102             :     uint8_t high_latency_wind_speed() const override;
     103             :     uint8_t high_latency_wind_direction() const override;
     104             : #endif // HAL_HIGH_LATENCY2_ENABLED
     105             : 
     106             : 
     107             :     MAV_RESULT handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet);
     108             :     MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
     109             :     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
     110             :     MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
     111             : 
     112             : #if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
     113             :     MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);
     114             :     MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);
     115             :     MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
     116             : #endif
     117             : 
     118             : #if AP_MAVLINK_COMMAND_LONG_ENABLED
     119             :     bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
     120             : #endif
     121             : 
     122             :     MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
     123             :     MAV_RESULT handle_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
     124             : 
     125             : #if AP_WINCH_ENABLED
     126             :     MAV_RESULT handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet);
     127             : #endif
     128             : 
     129             : };