Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <GCS_MAVLink/GCS.h>
       4             : 
       5             : #include "defines.h"
       6             : 
       7             : class GCS_MAVLINK_Rover : public GCS_MAVLINK
       8             : {
       9             : public:
      10             : 
      11             :     using GCS_MAVLINK::GCS_MAVLINK;
      12             : 
      13             : protected:
      14             : 
      15             :     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, 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             :     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
      18             : 
      19             :     bool get_target_location(Location &loc) const override;
      20             : 
      21             :     uint64_t capabilities() const override;
      22             : 
      23             :     void send_nav_controller_output() const override;
      24             :     void send_pid_tuning() override;
      25             : 
      26             : #if HAL_LOGGING_ENABLED
      27           0 :     uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
      28             : #endif
      29             : 
      30             :     // Send the mode with the given index (not mode number!) return the total number of modes
      31             :     // Index starts at 1
      32             :     uint8_t send_available_mode(uint8_t index) const override;
      33             : 
      34             : private:
      35             : 
      36             :     void handle_message(const mavlink_message_t &msg) override;
      37             :     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
      38             :     bool try_send_message(enum ap_message id) override;
      39             : 
      40             :     void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
      41             :     void handle_set_attitude_target(const mavlink_message_t &msg);
      42             :     void handle_set_position_target_local_ned(const mavlink_message_t &msg);
      43             :     void handle_set_position_target_global_int(const mavlink_message_t &msg);
      44             :     void handle_radio(const mavlink_message_t &msg);
      45             :     void handle_landing_target(const mavlink_landing_target_t &msg, uint32_t timestamp_ms) override;
      46             : 
      47             :     // if we receive a message where the user has not masked out
      48             :     // acceleration from the input packet we send a curt message
      49             :     // informing them:
      50             :     void send_acc_ignore_must_be_set_message(const char *msgname);
      51             :     uint8_t base_mode() const override;
      52             :     MAV_STATE vehicle_system_status() const override;
      53             : 
      54             :     int16_t vfr_hud_throttle() const override;
      55             : 
      56             : #if AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
      57             :     void send_rangefinder() const override;
      58             : #endif  // AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED
      59             : 
      60             : #if AP_RANGEFINDER_ENABLED
      61             :     // send WATER_DEPTH - metres and temperature
      62             :     void send_water_depth();
      63             :     // state variable for the last rangefinder we sent a WATER_DEPTH
      64             :     // message for.  We cycle through the rangefinder backends to
      65             :     // limit the amount of telemetry bandwidth we consume.
      66             :     uint8_t last_WATER_DEPTH_index;
      67             : #endif
      68             : 
      69             : #if HAL_HIGH_LATENCY2_ENABLED
      70             :     uint8_t high_latency_tgt_heading() const override;
      71             :     uint16_t high_latency_tgt_dist_dam() const override;
      72             :     uint8_t high_latency_tgt_airspeed() const override;
      73             :     uint8_t high_latency_wind_speed() const override;
      74             :     uint8_t high_latency_wind_direction() const override;
      75             : #endif // HAL_HIGH_LATENCY2_ENABLED
      76             : };