ArduCopter/GCS_Copter.h

   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     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     uint8_t sysid_this_mav() const override;
  32
  33 protected:
  34
  35
  36     // minimum amount of time (in microseconds) that must remain in
  37     // the main scheduler loop before we are allowed to send any
  38     // mavlink messages.  We want to prioritise the main flight
  39     // control loop over communications
  40     uint16_t min_loop_time_remaining_for_message_send_us() const override {
  41         return 250;
  42     }
  43
  44     GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
  45                                                 AP_HAL::UARTDriver &uart) override {
  46         return NEW_NOTHROW GCS_MAVLINK_Copter(params, uart);
  47     }
  48
  49 };