-
Notifications
You must be signed in to change notification settings - Fork 0
/
GCS_Copter.h
57 lines (43 loc) · 1.66 KB
/
GCS_Copter.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
#pragma once
#include <GCS_MAVLink/GCS.h>
#include "GCS_Mavlink.h"
class GCS_Copter : public GCS
{
friend class Copter; // for access to _chan in parameter declarations
public:
// return GCS link at offset ofs
GCS_MAVLINK_Copter *chan(const uint8_t ofs) override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Copter *)_chan[ofs];
}
const GCS_MAVLINK_Copter *chan(const uint8_t ofs) const override {
if (ofs > _num_gcs) {
INTERNAL_ERROR(AP_InternalError::error_t::gcs_offset);
return nullptr;
}
return (GCS_MAVLINK_Copter *)_chan[ofs];
}
void update_vehicle_sensor_status_flags(void) override;
uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override;
const char* frame_string() const override;
bool vehicle_initialised() const override;
bool simple_input_active() const override;
bool supersimple_input_active() const override;
protected:
uint8_t sysid_this_mav() const override;
// minimum amount of time (in microseconds) that must remain in
// the main scheduler loop before we are allowed to send any
// mavlink messages. We want to prioritise the main flight
// control loop over communications
uint16_t min_loop_time_remaining_for_message_send_us() const override {
return 250;
}
GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Copter(params, uart);
}
};