ArduCopter/GCS_Mavlink.h

   1 #pragma once
   2
   3 #include <GCS_MAVLink/GCS.h>
   4 #include <AP_Winch/AP_Winch_config.h>
   5 #include "defines.h"
   6
   7 #ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
   8 #define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
   9 #endif
  10
  11 class GCS_MAVLINK_Copter : public GCS_MAVLINK
  12 {
  13
  14 public:
  15
  16     using GCS_MAVLINK::GCS_MAVLINK;
  17
  18 protected:
  19
  20     uint32_t telem_delay() const override;
  21
  22     MAV_RESULT handle_flight_termination(const mavlink_command_int_t &packet) override;
  23
  24     uint8_t sysid_my_gcs() const override;
  25     bool sysid_enforce() const override;
  26
  27     bool params_ready() const override;
  28     void send_banner() override;
  29
  30     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
  31
  32     void send_attitude_target() override;
  33     void send_position_target_global_int() override;
  34     void send_position_target_local_ned() override;
  35
  36     MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
  37     MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
  38 #if HAL_MOUNT_ENABLED
  39     MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
  40 #endif
  41     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
  42     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
  43     MAV_RESULT handle_command_pause_continue(const mavlink_command_int_t &packet);
  44
  45 #if HAL_MOUNT_ENABLED
  46     void handle_mount_message(const mavlink_message_t &msg) override;
  47 #endif
  48
  49     void handle_message_set_attitude_target(const mavlink_message_t &msg);
  50     void handle_message_set_position_target_global_int(const mavlink_message_t &msg);
  51     void handle_message_set_position_target_local_ned(const mavlink_message_t &msg);
  52
  53     void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
  54
  55     void send_nav_controller_output() const override;
  56     uint64_t capabilities() const override;
  57
  58     virtual MAV_VTOL_STATE vtol_state() const override { return MAV_VTOL_STATE_MC; };
  59     virtual MAV_LANDED_STATE landed_state() const override;
  60
  61     void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
  62
  63 #if HAL_LOGGING_ENABLED
  64     uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
  65 #endif
  66
  67     // Send the mode with the given index (not mode number!) return the total number of modes
  68     // Index starts at 1
  69     uint8_t send_available_mode(uint8_t index) const override;
  70
  71 private:
  72
  73     // sanity check velocity or acceleration vector components are numbers
  74     // (e.g. not NaN) and below 1000. vec argument units are in meters/second or
  75     // metres/second/second
  76     bool sane_vel_or_acc_vector(const Vector3f &vec) const;
  77
  78     MISSION_STATE mission_state(const class AP_Mission &mission) const override;
  79
  80     void handle_message(const mavlink_message_t &msg) override;
  81     void handle_command_ack(const mavlink_message_t &msg) override;
  82     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
  83     bool try_send_message(enum ap_message id) override;
  84
  85     void packetReceived(const mavlink_status_t &status,
  86                         const mavlink_message_t &msg) override;
  87
  88     MAV_MODE base_mode() const override;
  89     MAV_STATE vehicle_system_status() const override;
  90
  91     float vfr_hud_airspeed() const override;
  92     int16_t vfr_hud_throttle() const override;
  93     float vfr_hud_alt() const override;
  94
  95     void send_pid_tuning() override;
  96
  97 #if AP_WINCH_ENABLED
  98     void send_winch_status() const override;
  99 #endif
 100
 101     void send_wind() const;
 102
 103 #if HAL_HIGH_LATENCY2_ENABLED
 104     int16_t high_latency_target_altitude() const override;
 105     uint8_t high_latency_tgt_heading() const override;
 106     uint16_t high_latency_tgt_dist() const override;
 107     uint8_t high_latency_tgt_airspeed() const override;
 108     uint8_t high_latency_wind_speed() const override;
 109     uint8_t high_latency_wind_direction() const override;
 110 #endif // HAL_HIGH_LATENCY2_ENABLED
 111
 112
 113     MAV_RESULT handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet);
 114     MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
 115     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
 116     MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
 117
 118 #if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
 119     MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);
 120     MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);
 121     MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
 122 #endif
 123
 124 #if AP_MAVLINK_COMMAND_LONG_ENABLED
 125     bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
 126 #endif
 127
 128     MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
 129     MAV_RESULT handle_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
 130
 131 #if AP_WINCH_ENABLED
 132     MAV_RESULT handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet);
 133 #endif
 134
 135 };