GCS_MAVLink.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-


#ifndef GCS_MAVLink_h
#define GCS_MAVLink_h

#include "compat.h"


#define MAVLINK_COMM_NUM_CHANNELS 1
#define MAVLINK_CRC_EXTRA 1

#include "include/mavlink/v2.0/ardupilotmega/version.h"

#include "include/mavlink/v2.0/mavlink_types.h"

#undef MAVLINK_COMM_NUM_BUFFERS
#define MAVLINK_COMM_NUM_BUFFERS 1

extern AP_HAL::BetterStream *mavlink_comm_0_port;

extern AP_HAL::BetterStream *mavlink_comm_1_port;

extern mavlink_system_t mavlink_system;

extern void osd_queue(uint8_t c);

static inline void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
{
    osd_queue(ch);
}

static inline uint8_t comm_receive_ch(mavlink_channel_t chan)
{
    return 0;
}

static inline uint16_t comm_get_available(mavlink_channel_t chan)
{
    return 0;
}


static inline int comm_get_txspace(mavlink_channel_t chan)
{
    return 255;
}

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align" // yes I know


#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#include "include/mavlink/v2.0/ardupilotmega/mavlink.h"

#pragma GCC diagnostic pop

uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid);

// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);

#endif // GCS_MAVLink_h