#include <GCS_Mavlink.h>

Inheritance diagram for GCS_MAVLINK_Copter:

Collaboration diagram for GCS_MAVLINK_Copter:

Protected Member Functions
uint32_t	telem_delay () const override

bool	accept_packet (const mavlink_status_t &status, mavlink_message_t &msg) override

AP_Mission *	get_mission () override

AP_Rally *	get_rally () const override

Compass *	get_compass () const override

AP_Camera *	get_camera () const override

MAV_RESULT	handle_flight_termination (const mavlink_command_long_t &packet) override

AP_AdvancedFailsafe *	get_advanced_failsafe () const override

AP_VisualOdom *	get_visual_odom () const override

const AP_FWVersion &	get_fwver () const override

uint8_t	sysid_my_gcs () const override

bool	set_mode (uint8_t mode) override

bool	params_ready () const override

void	send_banner () override

MAV_RESULT	_handle_command_preflight_calibration (const mavlink_command_long_t &packet) override

void	send_position_target_global_int () override

Protected Member Functions inherited from GCS_MAVLINK
virtual bool	in_hil_mode () const

void	set_ekf_origin (const Location &loc)

uint8_t	packet_overhead (void) const

virtual bool	persist_streamrates () const

void	handle_request_data_stream (mavlink_message_t *msg)

void	handle_set_mode (mavlink_message_t *msg)

void	handle_mission_request_list (AP_Mission &mission, mavlink_message_t *msg)

void	handle_mission_request (AP_Mission &mission, mavlink_message_t *msg)

void	handle_mission_clear_all (AP_Mission &mission, mavlink_message_t *msg)

virtual void	handle_mission_set_current (AP_Mission &mission, mavlink_message_t *msg)

void	handle_mission_count (AP_Mission &mission, mavlink_message_t *msg)

void	handle_mission_write_partial_list (AP_Mission &mission, mavlink_message_t *msg)

bool	handle_mission_item (mavlink_message_t *msg, AP_Mission &mission)

void	handle_common_param_message (mavlink_message_t *msg)

void	handle_param_set (mavlink_message_t *msg)

void	handle_param_request_list (mavlink_message_t *msg)

void	handle_param_request_read (mavlink_message_t *msg)

void	handle_common_gps_message (mavlink_message_t *msg)

void	handle_common_rally_message (mavlink_message_t *msg)

void	handle_rally_fetch_point (mavlink_message_t *msg)

void	handle_rally_point (mavlink_message_t *msg)

void	handle_common_camera_message (const mavlink_message_t *msg)

void	handle_gimbal_report (AP_Mount &mount, mavlink_message_t *msg) const

void	handle_radio_status (mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio)

void	handle_serial_control (const mavlink_message_t *msg)

void	handle_vision_position_delta (mavlink_message_t *msg)

void	handle_common_message (mavlink_message_t *msg)

void	handle_set_gps_global_origin (const mavlink_message_t *msg)

void	handle_setup_signing (const mavlink_message_t *msg)

MAV_RESULT	handle_preflight_reboot (const mavlink_command_long_t &packet, bool disable_overrides)

MAV_RESULT	handle_rc_bind (const mavlink_command_long_t &packet)

void	handle_send_autopilot_version (const mavlink_message_t *msg)

MAV_RESULT	handle_command_request_autopilot_capabilities (const mavlink_command_long_t &packet)

void	handle_device_op_read (mavlink_message_t *msg)

void	handle_device_op_write (mavlink_message_t *msg)

void	send_timesync ()

uint64_t	timesync_receive_timestamp_ns () const

uint64_t	timesync_timestamp_ns () const

void	handle_timesync (mavlink_message_t *msg)

void	handle_statustext (mavlink_message_t *msg)

bool	telemetry_delayed () const

MAV_RESULT	handle_command_preflight_set_sensor_offsets (const mavlink_command_long_t &packet)

virtual MAV_RESULT	handle_command_preflight_calibration (const mavlink_command_long_t &packet)

virtual MAV_RESULT	_handle_command_preflight_calibration_baro ()

MAV_RESULT	handle_command_mag_cal (const mavlink_command_long_t &packet)

MAV_RESULT	handle_command_long_message (mavlink_command_long_t &packet)

MAV_RESULT	handle_command_camera (const mavlink_command_long_t &packet)

MAV_RESULT	handle_command_do_send_banner (const mavlink_command_long_t &packet)

MAV_RESULT	handle_command_do_set_mode (const mavlink_command_long_t &packet)

MAV_RESULT	handle_command_get_home_position (const mavlink_command_long_t &packet)

bool	try_send_compass_message (enum ap_message id)

bool	try_send_mission_message (enum ap_message id)

bool	try_send_camera_message (enum ap_message id)

bool	try_send_gps_message (enum ap_message id)

void	send_hwstatus ()

void	handle_data_packet (mavlink_message_t *msg)

virtual int32_t	global_position_int_alt () const

virtual int32_t	global_position_int_relative_alt () const

virtual float	vfr_hud_climbrate () const

virtual float	vfr_hud_airspeed () const

Private Member Functions
void	handleMessage (mavlink_message_t *msg) override

void	handle_command_ack (const mavlink_message_t *msg) override

bool	handle_guided_request (AP_Mission::Mission_Command &cmd) override

void	handle_change_alt_request (AP_Mission::Mission_Command &cmd) override

bool	try_send_message (enum ap_message id) override

void	packetReceived (const mavlink_status_t &status, mavlink_message_t &msg) override

MAV_TYPE	frame_type () const override

MAV_MODE	base_mode () const override

uint32_t	custom_mode () const override

MAV_STATE	system_status () const override

int16_t	vfr_hud_throttle () const override

bool	vfr_hud_make_alt_relative () const override

Additional Inherited Members
Public Types inherited from GCS_MAVLINK
enum	streams

Public Member Functions inherited from GCS_MAVLINK
	GCS_MAVLINK ()

void	update (uint32_t max_time_us=1000)

void	init (AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)

void	setup_uart (const AP_SerialManager &serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance)

void	send_message (enum ap_message id)

void	send_text (MAV_SEVERITY severity, const char *fmt,...)

void	data_stream_send ()

void	queued_param_send ()

void	queued_waypoint_send ()

AP_HAL::UARTDriver *	get_uart ()

bool	stream_trigger (enum streams stream_num)

bool	is_high_bandwidth ()

bool	have_flow_control ()

mavlink_channel_t	get_chan () const

uint32_t	get_last_heartbeat_time () const

void	send_heartbeat (void) const

void	send_meminfo (void)

void	send_power_status (void)

void	send_battery_status (const AP_BattMonitor &battery, const uint8_t instance) const

bool	send_battery_status () const

bool	send_distance_sensor () const

void	send_rangefinder_downward () const

bool	send_proximity () const

void	send_ahrs2 ()

void	send_system_time ()

void	send_radio_in ()

void	send_raw_imu ()

virtual void	send_scaled_pressure3 ()

void	send_scaled_pressure ()

void	send_sensor_offsets ()

virtual void	send_simstate () const

void	send_ahrs ()

void	send_battery2 ()

virtual void	send_attitude () const

void	send_autopilot_version () const

void	send_local_position () const

void	send_vfr_hud ()

void	send_vibration () const

void	send_named_float (const char *name, float value) const

void	send_home () const

void	send_ekf_origin () const

void	send_servo_output_raw ()

void	send_accelcal_vehicle_position (uint32_t position)

void	send_queued_parameters (void)

void	retry_deferred ()

	FUNCTOR_TYPEDEF (protocol_handler_fn_t, bool, uint8_t, AP_HAL::UARTDriver *)

	MAV_STREAM_ENTRY (STREAM_RAW_SENSORS)

	MAV_STREAM_ENTRY (STREAM_EXTENDED_STATUS)

	MAV_STREAM_ENTRY (STREAM_POSITION)

	MAV_STREAM_ENTRY (STREAM_RC_CHANNELS)

	MAV_STREAM_ENTRY (STREAM_EXTRA1)

	MAV_STREAM_ENTRY (STREAM_EXTRA2)

	MAV_STREAM_ENTRY (STREAM_EXTRA3)

	MAV_STREAM_ENTRY (STREAM_ADSB)

Static Public Member Functions inherited from GCS_MAVLINK
static void	send_collision_all (const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour)

static uint8_t	active_channel_mask (void)

static uint8_t	streaming_channel_mask (void)

static void	send_to_components (const mavlink_message_t *msg)

static void	disable_channel_routing (mavlink_channel_t chan)

static bool	find_by_mavtype (uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel)

static void	update_signing_timestamp (uint64_t timestamp_usec)

static uint8_t	packet_overhead_chan (mavlink_channel_t chan)

Public Attributes inherited from GCS_MAVLINK
	STREAM_RAW_SENSORS

	STREAM_EXTENDED_STATUS

	STREAM_RC_CHANNELS

	STREAM_RAW_CONTROLLER

	STREAM_POSITION

	STREAM_EXTRA1

	STREAM_EXTRA2

	STREAM_EXTRA3

	STREAM_PARAMS

	STREAM_ADSB

	NUM_STREAMS

bool	initialised

uint32_t	last_heartbeat_time

uint16_t	mission_item_reached_index

int64_t	sent_ts1

uint32_t	last_sent_ms

const uint16_t	interval_ms

GCS_MAVLINK::protocol_handler_fn_t	handler

uint32_t	last_mavlink_ms

uint32_t	last_alternate_ms

bool	active

int64_t	link_offset_usec

uint32_t	min_sample_counter

int64_t	min_sample_us

Static Public Attributes inherited from GCS_MAVLINK
static const struct AP_Param::GroupInfo	var_info []

static uint32_t	last_radio_status_remrssi_ms

static const struct stream_entries	all_stream_entries []

Protected Attributes inherited from GCS_MAVLINK
bool	waypoint_receiving

uint16_t	waypoint_request_i

uint16_t	waypoint_request_last

AP_Param *	_queued_parameter

mavlink_channel_t	chan

AP_Int16	streamRates [NUM_STREAMS]

struct GCS_MAVLINK:: { ... }	_timesync_request

Vector3f	vfr_hud_velned

Detailed Description

Definition at line 8 of file GCS_Mavlink.h.

Member Function Documentation

◆ _handle_command_preflight_calibration()

MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration ( const mavlink_command_long_t & packet )

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 601 of file GCS_Mavlink.cpp.

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◆ accept_packet()

bool GCS_MAVLINK_Copter::accept_packet	(	const mavlink_status_t &	status,
		mavlink_message_t &	msg
	)

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 1636 of file GCS_Mavlink.cpp.

◆ base_mode()

MAV_MODE GCS_MAVLINK_Copter::base_mode ( ) const

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 30 of file GCS_Mavlink.cpp.

◆ custom_mode()

uint32_t GCS_MAVLINK_Copter::custom_mode ( ) const

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 80 of file GCS_Mavlink.cpp.

◆ frame_type()

MAV_TYPE GCS_MAVLINK_Copter::frame_type ( ) const

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 25 of file GCS_Mavlink.cpp.

◆ get_advanced_failsafe()

AP_AdvancedFailsafe * GCS_MAVLINK_Copter::get_advanced_failsafe ( ) const

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 1670 of file GCS_Mavlink.cpp.

◆ get_camera()

AP_Camera * GCS_MAVLINK_Copter::get_camera ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1661 of file GCS_Mavlink.cpp.

◆ get_compass()

Compass * GCS_MAVLINK_Copter::get_compass ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1656 of file GCS_Mavlink.cpp.

◆ get_fwver()

const AP_FWVersion & GCS_MAVLINK_Copter::get_fwver ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1728 of file GCS_Mavlink.cpp.

◆ get_mission()

AP_Mission * GCS_MAVLINK_Copter::get_mission ( )

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1647 of file GCS_Mavlink.cpp.

◆ get_rally()

AP_Rally * GCS_MAVLINK_Copter::get_rally ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1708 of file GCS_Mavlink.cpp.

◆ get_visual_odom()

AP_VisualOdom * GCS_MAVLINK_Copter::get_visual_odom ( ) const

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 1679 of file GCS_Mavlink.cpp.

◆ handle_change_alt_request()

void GCS_MAVLINK_Copter::handle_change_alt_request ( AP_Mission::Mission_Command & cmd )

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 550 of file GCS_Mavlink.cpp.

◆ handle_command_ack()

void GCS_MAVLINK_Copter::handle_command_ack ( const mavlink_message_t * msg )

overrideprivatevirtual

Reimplemented from GCS_MAVLINK.

Definition at line 595 of file GCS_Mavlink.cpp.

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◆ handle_flight_termination()

MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination ( const mavlink_command_long_t & packet )

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 1689 of file GCS_Mavlink.cpp.

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◆ handle_guided_request()

bool GCS_MAVLINK_Copter::handle_guided_request ( AP_Mission::Mission_Command & cmd )

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 541 of file GCS_Mavlink.cpp.

◆ handleMessage()

void GCS_MAVLINK_Copter::handleMessage ( mavlink_message_t * msg )

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 611 of file GCS_Mavlink.cpp.

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◆ packetReceived()

void GCS_MAVLINK_Copter::packetReceived	(	const mavlink_status_t &	status,
		mavlink_message_t &	msg
	)

overrideprivatevirtual

Reimplemented from GCS_MAVLINK.

Definition at line 560 of file GCS_Mavlink.cpp.

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◆ params_ready()

bool GCS_MAVLINK_Copter::params_ready ( ) const

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 576 of file GCS_Mavlink.cpp.

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◆ send_banner()

void GCS_MAVLINK_Copter::send_banner ( )

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 588 of file GCS_Mavlink.cpp.

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◆ send_position_target_global_int()

void GCS_MAVLINK_Copter::send_position_target_global_int ( )

overrideprotectedvirtual

Reimplemented from GCS_MAVLINK.

Definition at line 101 of file GCS_Mavlink.cpp.

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◆ set_mode()

bool GCS_MAVLINK_Copter::set_mode ( uint8_t mode )

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 1717 of file GCS_Mavlink.cpp.

◆ sysid_my_gcs()

uint8_t GCS_MAVLINK_Copter::sysid_my_gcs ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 255 of file GCS_Mavlink.cpp.

◆ system_status()

MAV_STATE GCS_MAVLINK_Copter::system_status ( ) const

overrideprivatevirtual

Implements GCS_MAVLINK.

Definition at line 86 of file GCS_Mavlink.cpp.

◆ telem_delay()

uint32_t GCS_MAVLINK_Copter::telem_delay ( ) const

overrideprotectedvirtual

Implements GCS_MAVLINK.

Definition at line 260 of file GCS_Mavlink.cpp.

◆ try_send_message()

bool GCS_MAVLINK_Copter::try_send_message ( enum ap_message id )

overrideprivatevirtual

Reimplemented from GCS_MAVLINK.

Definition at line 266 of file GCS_Mavlink.cpp.

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◆ vfr_hud_make_alt_relative()

bool GCS_MAVLINK_Copter::vfr_hud_make_alt_relative ( ) const

inlineoverrideprivatevirtual

Reimplemented from GCS_MAVLINK.

Definition at line 56 of file GCS_Mavlink.h.

◆ vfr_hud_throttle()

int16_t GCS_MAVLINK_Copter::vfr_hud_throttle ( ) const

overrideprivatevirtual

Reimplemented from GCS_MAVLINK.

Definition at line 174 of file GCS_Mavlink.cpp.

The documentation for this class was generated from the following files:

ArduCopter/GCS_Mavlink.h
ArduCopter/GCS_Mavlink.cpp

Protected Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _handle_command_preflight_calibration()

◆ accept_packet()

◆ base_mode()

◆ custom_mode()

◆ frame_type()

◆ get_advanced_failsafe()

◆ get_camera()

◆ get_compass()

◆ get_fwver()

◆ get_mission()

◆ get_rally()

◆ get_visual_odom()

◆ handle_change_alt_request()

◆ handle_command_ack()

◆ handle_flight_termination()

◆ handle_guided_request()

◆ handleMessage()

◆ packetReceived()

◆ params_ready()

◆ send_banner()

◆ send_position_target_global_int()

◆ set_mode()

◆ sysid_my_gcs()

◆ system_status()

◆ telem_delay()

◆ try_send_message()

◆ vfr_hud_make_alt_relative()

◆ vfr_hud_throttle()