Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : #include <AP_Logger/AP_Logger.h>
       5             : #include <AP_Airspeed/AP_Airspeed_config.h>
       6             : #include "quadplane.h"
       7             : #include "defines.h"
       8             : 
       9             : class GCS_MAVLINK_Plane : public GCS_MAVLINK
      10             : {
      11             : 
      12             : public:
      13             : 
      14             :     using GCS_MAVLINK::GCS_MAVLINK;
      15             : 
      16             : protected:
      17             : 
      18             : #if HAL_LOGGING_ENABLED
      19           0 :     uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
      20             : #endif
      21             : 
      22             : #if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
      23             :     void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
      24             : #endif
      25             : 
      26             :     MAV_RESULT handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      27             :     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
      28             :     MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_int_t &packet) override;
      29             : 
      30             :     bool get_target_location(Location &loc) const override;
      31             : 
      32             :     void send_aoa_ssa();
      33             :     void send_attitude() const override;
      34             :     void send_attitude_target() override;
      35             :     void send_wind() const;
      36             : 
      37        6354 :     bool persist_streamrates() const override { return true; }
      38             : 
      39             :     uint64_t capabilities() const override;
      40             : 
      41             :     void send_nav_controller_output() const override;
      42             :     void send_pid_tuning() override;
      43             : 
      44             :     void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
      45             :     void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
      46             : 
      47             :     // Send the mode with the given index (not mode number!) return the total number of modes
      48             :     // Index starts at 1
      49             :     uint8_t send_available_mode(uint8_t index) const override;
      50             : 
      51             : private:
      52             : 
      53             :     void send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
      54             : 
      55             :     void handle_message(const mavlink_message_t &msg) override;
      56             :     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
      57             :     void handle_change_alt_request(Location &location) override;
      58             :     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
      59             :     MAV_RESULT handle_command_int_DO_CHANGE_ALTITUDE(const mavlink_command_int_t &packet);
      60             :     MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
      61             :     MAV_RESULT handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet);
      62             :     MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
      63             :     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
      64             :     MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
      65             :     MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
      66             : 
      67             :     void handle_set_position_target_global_int(const mavlink_message_t &msg);
      68             :     void handle_set_position_target_local_ned(const mavlink_message_t &msg);
      69             :     void handle_set_attitude_target(const mavlink_message_t &msg);
      70             : 
      71             : #if HAL_QUADPLANE_ENABLED
      72             : #if AP_MAVLINK_COMMAND_LONG_ENABLED
      73             :     void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);
      74             :     void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override;
      75             : #endif
      76             :     MAV_RESULT handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
      77             : #endif
      78             : 
      79             :     bool try_send_message(enum ap_message id) override;
      80             :     void packetReceived(const mavlink_status_t &status, 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_climbrate() const override;
      88             :     
      89             : #if HAL_HIGH_LATENCY2_ENABLED
      90             :     int16_t high_latency_target_altitude() const override;
      91             :     uint8_t high_latency_tgt_heading() const override;
      92             :     uint16_t high_latency_tgt_dist_dam() const override;
      93             :     uint8_t high_latency_tgt_airspeed() const override;
      94             :     uint8_t high_latency_wind_speed() const override;
      95             :     uint8_t high_latency_wind_direction() const override;
      96             : #endif // HAL_HIGH_LATENCY2_ENABLED
      97             : 
      98             : #if AP_AIRSPEED_HYGROMETER_ENABLE
      99             :     void send_hygrometer();
     100             :     uint8_t last_hygrometer_send_idx;
     101             : #endif
     102             : 
     103             :     MAV_VTOL_STATE vtol_state() const override;
     104             :     MAV_LANDED_STATE landed_state() const override;
     105             : 
     106             : };