GCS.h File Reference

Interface definition for the various Ground Control System. More...

#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include "GCS_MAVLink.h"
#include <DataFlash/DataFlash.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <stdint.h>
#include "MAVLink_routing.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Mount/AP_Mount.h>
#include <AP_Avoidance/AP_Avoidance.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_Common/AP_FWVersion.h>

Include dependency graph for GCS.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	GCS_MAVLINK
	MAVLink transport control class. More...
struct	GCS_MAVLINK::stream_entries
struct	GCS_MAVLINK::pending_param_request
struct	GCS_MAVLINK::pending_param_reply
class	GCS
	global GCS object More...
struct	GCS::statustext_t

Macros
#define	PAYLOAD_SIZE(chan, id)   (GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
#define	HAVE_PAYLOAD_SPACE(chan, id)   (comm_get_txspace(chan) >= PAYLOAD_SIZE(chan, id))
#define	CHECK_PAYLOAD_SIZE(id)   if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false
#define	CHECK_PAYLOAD_SIZE2(id)   if (!HAVE_PAYLOAD_SPACE(chan, id)) return false
#define	MAV_STREAM_ENTRY(stream_name)
#define	MAV_STREAM_TERMINATOR   { (streams)0, nullptr, 0 }

Enumerations
enum	ap_message : uint8_t {   MSG_HEARTBEAT, MSG_ATTITUDE, MSG_LOCATION, MSG_EXTENDED_STATUS1,   MSG_EXTENDED_STATUS2, MSG_NAV_CONTROLLER_OUTPUT, MSG_CURRENT_WAYPOINT, MSG_VFR_HUD,   MSG_SERVO_OUTPUT_RAW, MSG_RADIO_IN, MSG_RAW_IMU1, MSG_RAW_IMU2,   MSG_RAW_IMU3, MSG_GPS_RAW, MSG_GPS_RTK, MSG_GPS2_RAW,   MSG_GPS2_RTK, MSG_SYSTEM_TIME, MSG_SERVO_OUT, MSG_NEXT_WAYPOINT,   MSG_NEXT_PARAM, MSG_FENCE_STATUS, MSG_AHRS, MSG_SIMSTATE,   MSG_HWSTATUS, MSG_WIND, MSG_RANGEFINDER, MSG_TERRAIN,   MSG_BATTERY2, MSG_CAMERA_FEEDBACK, MSG_MOUNT_STATUS, MSG_OPTICAL_FLOW,   MSG_GIMBAL_REPORT, MSG_MAG_CAL_PROGRESS, MSG_MAG_CAL_REPORT, MSG_EKF_STATUS_REPORT,   MSG_LOCAL_POSITION, MSG_PID_TUNING, MSG_VIBRATION, MSG_RPM,   MSG_MISSION_ITEM_REACHED, MSG_POSITION_TARGET_GLOBAL_INT, MSG_ADSB_VEHICLE, MSG_BATTERY_STATUS,   MSG_AOA_SSA, MSG_LANDING, MSG_NAMED_FLOAT, MSG_LAST }

Functions
GCS &	gcs ()

Detailed Description

Interface definition for the various Ground Control System.

Definition in file GCS.h.

Macro Definition Documentation

CHECK_PAYLOAD_SIZE

#define CHECK_PAYLOAD_SIZE

(

id

)

if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false

Definition at line 29 of file GCS.h.

Referenced by GCS_MAVLINK::send_battery_status(), GCS_MAVLINK::send_distance_sensor(), GCS_MAVLINK::send_proximity(), GCS_MAVLINK::try_send_camera_message(), GCS_MAVLINK::try_send_gps_message(), GCS_MAVLINK::try_send_message(), and GCS_MAVLINK::try_send_mission_message().

CHECK_PAYLOAD_SIZE2

#define CHECK_PAYLOAD_SIZE2

(

id

)

if (!HAVE_PAYLOAD_SPACE(chan, id)) return false

Definition at line 30 of file GCS.h.

Referenced by AP_Landing_Deepstall::send_deepstall_message().

HAVE_PAYLOAD_SPACE

#define HAVE_PAYLOAD_SPACE	(		chan,
			id
	)		(comm_get_txspace(chan) >= PAYLOAD_SIZE(chan, id))

Definition at line 28 of file GCS.h.

Referenced by DataFlash_Class::handle_log_send_data(), DataFlash_Class::handle_log_send_listing(), GCS_MAVLINK::handle_mission_item(), GCS_MAVLINK::handle_param_request_read(), GCS_MAVLINK::handle_serial_control(), GCS_MAVLINK::send_accelcal_vehicle_position(), GCS_MAVLINK::send_ahrs2(), AP_Mount_SToRM32::send_do_mount_control(), GCS_MAVLINK::send_ekf_origin(), GCS_MAVLINK::send_home(), DataFlash_MAVLink::send_log_block(), Compass::send_mag_cal_progress(), Compass::send_mag_cal_report(), GCS::send_parameter_value(), GCS_MAVLINK::send_radio_in(), GCS_MAVLINK::send_raw_imu(), AP_Button::send_report(), GCS_MAVLINK::send_scaled_pressure(), GCS_MAVLINK::send_scaled_pressure3(), GCS::service_statustext(), AP_ADSB::update(), and GCS_MAVLINK::update().

MAV_STREAM_ENTRY

#define MAV_STREAM_ENTRY

(

stream_name

)

Value:

{                                           \
        GCS_MAVLINK::stream_name,               \
        stream_name ## _msgs,                   \
        ARRAY_SIZE(stream_name ## _msgs)        \
    }

Definition at line 89 of file GCS.h.

MAV_STREAM_TERMINATOR

#define MAV_STREAM_TERMINATOR   { (streams)0, nullptr, 0 }

Definition at line 95 of file GCS.h.

PAYLOAD_SIZE

#define PAYLOAD_SIZE	(		chan,
			id
	)		(GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)

Definition at line 27 of file GCS.h.

Referenced by GCS_MAVLINK::handle_global_vision_position_estimate(), GCS_MAVLINK::handle_vicon_position_estimate(), GCS_MAVLINK::handle_vision_position_estimate(), and GCS_MAVLINK::timesync_receive_timestamp_ns().

Enumeration Type Documentation

ap_message

enum ap_message : uint8_t

NOTE: to ensure we never block on sending MAVLink messages please keep each MSG_ to a single MAVLink message. If need be create new MSG_ IDs for additional messages on the same stream

Enumerator
MSG_HEARTBEAT
MSG_ATTITUDE
MSG_LOCATION
MSG_EXTENDED_STATUS1
MSG_EXTENDED_STATUS2
MSG_NAV_CONTROLLER_OUTPUT
MSG_CURRENT_WAYPOINT
MSG_VFR_HUD
MSG_SERVO_OUTPUT_RAW
MSG_RADIO_IN
MSG_RAW_IMU1
MSG_RAW_IMU2
MSG_RAW_IMU3
MSG_GPS_RAW
MSG_GPS_RTK
MSG_GPS2_RAW
MSG_GPS2_RTK
MSG_SYSTEM_TIME
MSG_SERVO_OUT
MSG_NEXT_WAYPOINT
MSG_NEXT_PARAM
MSG_FENCE_STATUS
MSG_AHRS
MSG_SIMSTATE
MSG_HWSTATUS
MSG_WIND
MSG_RANGEFINDER
MSG_TERRAIN
MSG_BATTERY2
MSG_CAMERA_FEEDBACK
MSG_MOUNT_STATUS
MSG_OPTICAL_FLOW
MSG_GIMBAL_REPORT
MSG_MAG_CAL_PROGRESS
MSG_MAG_CAL_REPORT
MSG_EKF_STATUS_REPORT
MSG_LOCAL_POSITION
MSG_PID_TUNING
MSG_VIBRATION
MSG_RPM
MSG_MISSION_ITEM_REACHED
MSG_POSITION_TARGET_GLOBAL_INT
MSG_ADSB_VEHICLE
MSG_BATTERY_STATUS
MSG_AOA_SSA
MSG_LANDING
MSG_NAMED_FLOAT
MSG_LAST

Definition at line 37 of file GCS.h.

Function Documentation

gcs()

GCS& gcs

(

)

Definition at line 3172 of file GCS_Common.cpp.

Referenced by EEPROMClass::_ErasePage(), GCS_MAVLINK::_handle_command_preflight_calibration_baro(), AP_GPS_UBLOX::_parse_gps(), AP_GPS_UBLOX::_save_cfg(), AP_Motors::add_motor_num(), AP_Arming::airspeed_checks(), AP_AccelCal::AP_AccelCal(), AP_Arming::arm(), AP_Arming::arm_checks(), AP_Arming::barometer_checks(), AP_Arming::battery_checks(), AP_Arming::board_voltage_checks(), AP_GPS_SBF::broadcast_configuration_failure_reason(), AP_GPS_UBLOX::broadcast_configuration_failure_reason(), AP_GPS::broadcast_first_configuration_failure_reason(), AP_GPS_Backend::broadcast_gps_type(), AP_Landing_Deepstall::build_approach_path(), NavEKF2_core::calcGpsGoodToAlign(), NavEKF3_core::calcGpsGoodToAlign(), AP_Airspeed::calibrate(), AP_Baro::calibrate(), AP_AdvancedFailsafe::check(), AP_Tuning::check_controller_error(), SoaringController::check_cruise_criteria(), AP_BattMonitor::check_failsafes(), AP_Tuning::check_input(), AP_Tuning::check_selector_switch(), NavEKF2_core::checkAttitudeAlignmentStatus(), NavEKF3_core::checkAttitudeAlignmentStatus(), AP_Arming::compass_checks(), NavEKF2_core::controlMagYawReset(), NavEKF3_core::controlMagYawReset(), GCS_MAVLINK::data_stream_send(), AP_SmartRTL::deactivate(), AP_Arming::disarm(), AP_ICEngine::engine_control(), NavEKF3_core::FuseBodyVel(), NavEKF3_core::FuseOptFlow(), AP_AdvancedFailsafe::gcs_terminate(), AP_Arming::gps_checks(), AP_Follow::handle_msg(), AP_ADSB::handle_out_cfg(), GCS_MAVLINK::handle_timesync(), AP_ADSB::handle_transceiver_report(), AP_Arming::hardware_safety_check(), AP_MotorsTri::init(), AP_SmartRTL::init(), AP_Airspeed::init(), DataFlash_Class::Init(), AP_Frsky_Telem::init(), AP_InertialSensor::BatchSampler::init(), AP_Mission::init(), NavEKF3::InitialiseFilter(), NavEKF2::InitialiseFilter(), NavEKF3_core::InitialiseFilterBootstrap(), AP_Arming::ins_checks(), AP_Mission::jump_to_landing_sequence(), AP_Camera::log_picture(), AP_Arming::logging_checks(), AP_Arming::manual_transmitter_checks(), VRBRAIN::VRBRAINRCInput::new_input(), PX4::PX4RCInput::new_input(), AP_Tuning::next_parameter(), AP_Landing_Deepstall::override_servos(), AP_MotorsHeli::parameter_check(), AP_MotorsHeli_Single::parameter_check(), AP_Landing_Deepstall::predict_travel_distance(), AP_GPS_SBF::prepare_for_arming(), AP_GPS_SBF::process_message(), AP_Arming::rc_calibration_checks(), AP_Arming::rc_checks_copter_sub(), AP_Airspeed::read(), NavEKF2_core::readMagData(), NavEKF3_core::readMagData(), NavEKF2_core::realignYawGPS(), NavEKF3_core::realignYawGPS(), AP_Landing::restart_landing_sequence(), AP_Param::save(), AP_Param::send_parameter(), GCS_MAVLINK::send_text(), AP_BoardConfig::sensor_config_error(), AP_Arming::servo_checks(), NavEKF2_core::setAidingMode(), NavEKF3_core::setAidingMode(), NavEKF2_core::setOrigin(), NavEKF3_core::setOrigin(), NavEKF3_core::setup_core(), AP_Camera::setup_feedback_callback(), AP_AccelCal::start(), GCS_MAVLINK::try_send_message(), AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(), AP_Landing::type_slope_do_land(), AP_Landing::type_slope_setup_landing_glide_slope(), AP_Landing::type_slope_verify_land(), AP_ICEngine::update(), AP_ADSB::update(), AP_Airspeed::update_calibration(), AP::PerfInfo::update_logging(), AP_Landing_Deepstall::update_steering(), SoaringController::update_thermalling(), AP_Camera::update_trigger(), and AP_Landing::verify_land().

Here is the call graph for this function:

Here is the caller graph for this function: