MAVLink transport control class. More...

#include <GCS.h>

Inheritance diagram for GCS_MAVLINK:

Collaboration diagram for GCS_MAVLINK:

Classes
struct	pending_param_reply

struct	pending_param_request

struct	stream_entries

Public Types
enum	streams : uint8_t { 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 }

Public Member Functions
	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 ()
	Send the next pending parameter, called from deferred message handling code. More...

void	queued_waypoint_send ()
	Send the next pending waypoint, called from deferred message handling code. More...

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

AP_HAL::UARTDriver *	get_uart ()

virtual uint8_t	sysid_my_gcs () const =0

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

virtual void	send_position_target_global_int ()

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 *)

Static Public Member Functions
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
bool	initialised

uint32_t	last_heartbeat_time

uint16_t	mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE

int64_t	sent_ts1

uint32_t	last_sent_ms

const uint16_t	interval_ms = 10000

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
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 Member Functions
virtual bool	in_hil_mode () const

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

virtual AP_Mission *	get_mission ()=0

virtual AP_Rally *	get_rally () const =0

virtual Compass *	get_compass () const =0

virtual class AP_Camera *	get_camera () const =0

virtual AP_AdvancedFailsafe *	get_advanced_failsafe () const

virtual AP_VisualOdom *	get_visual_odom () const

virtual bool	set_mode (uint8_t mode)=0

virtual const AP_FWVersion &	get_fwver () const =0

void	set_ekf_origin (const Location &loc)

virtual MAV_TYPE	frame_type () const =0

virtual MAV_MODE	base_mode () const =0

virtual uint32_t	custom_mode () const =0

virtual MAV_STATE	system_status () const =0

uint8_t	packet_overhead (void) const

virtual bool	persist_streamrates () const

void	handle_request_data_stream (mavlink_message_t *msg)

virtual void	handle_command_ack (const 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)

virtual bool	params_ready () const

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)

virtual MAV_RESULT	handle_flight_termination (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)

virtual void	send_banner ()

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

virtual uint32_t	telem_delay () const =0

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 (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)

virtual bool	try_send_message (enum ap_message id)

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 bool	vfr_hud_make_alt_relative () const

virtual float	vfr_hud_climbrate () const

virtual float	vfr_hud_airspeed () const

virtual int16_t	vfr_hud_throttle () const

Protected Attributes
bool	waypoint_receiving

uint16_t	waypoint_request_i

uint16_t	waypoint_request_last

AP_Param *	_queued_parameter
	next parameter to More...

mavlink_channel_t	chan

AP_Int16	streamRates [NUM_STREAMS]

struct {
int64_t sent_ts1

uint32_t last_sent_ms

const uint16_t interval_ms = 10000

}	_timesync_request

Vector3f	vfr_hud_velned

Private Member Functions
float	adjust_rate_for_stream_trigger (enum streams stream_num)

MAV_RESULT	_set_mode_common (const MAV_MODE base_mode, const uint32_t custom_mode)

virtual void	handleMessage (mavlink_message_t *msg)=0

MAV_RESULT	handle_servorelay_message (mavlink_command_long_t &packet)

bool	calibrate_gyros ()

void	param_io_timer (void)

void	send_parameter_reply (void)

void	send_distance_sensor (const AP_RangeFinder_Backend *sensor, const uint8_t instance) const

virtual bool	handle_guided_request (AP_Mission::Mission_Command &cmd)=0

virtual void	handle_change_alt_request (AP_Mission::Mission_Command &cmd)=0

void	handle_common_mission_message (mavlink_message_t *msg)

void	handle_vicon_position_estimate (mavlink_message_t *msg)

void	handle_vision_position_estimate (mavlink_message_t *msg)

void	handle_global_vision_position_estimate (mavlink_message_t *msg)

void	handle_att_pos_mocap (mavlink_message_t *msg)

void	handle_common_vision_position_estimate_data (const uint64_t usec, const float x, const float y, const float z, const float roll, const float pitch, const float yaw, const uint16_t payload_size)

void	log_vision_position_estimate_data (const uint64_t usec, const float x, const float y, const float z, const float roll, const float pitch, const float yaw)

void	push_deferred_messages ()

void	lock_channel (mavlink_channel_t chan, bool lock)

uint32_t	correct_offboard_timestamp_usec_to_ms (uint64_t offboard_usec, uint16_t payload_size)

void	load_signing_key (void)

bool	signing_enabled (void) const

void	send_global_position_int ()

Static Private Member Functions
static bool	signing_key_save (const struct SigningKey &key)

static bool	signing_key_load (struct SigningKey &key)

static void	save_signing_timestamp (bool force_save_now)

Private Attributes
AP_HAL::UARTDriver *	_port
	The stream we are communicating over. More...

enum ap_var_type	_queued_parameter_type
	type of the next More...

AP_Param::ParamToken	_queued_parameter_token

uint16_t	_queued_parameter_index
	AP_Param token for. More...

uint16_t	_queued_parameter_count
	saved count of More...

uint32_t	_queued_parameter_send_time_ms

uint16_t	packet_drops
	so that we can report to a GCS the number of parameters it should More...

uint16_t	waypoint_dest_sysid

uint16_t	waypoint_dest_compid

uint16_t	waypoint_count

uint32_t	waypoint_timelast_receive

uint32_t	waypoint_timelast_request

const uint16_t	waypoint_receive_timeout = 8000

uint8_t	stream_ticks [NUM_STREAMS]

uint8_t	stream_slowdown

AP_HAL::Util::perf_counter_t	_perf_packet

AP_HAL::Util::perf_counter_t	_perf_update

char	_perf_packet_name [16]

char	_perf_update_name [16]

enum ap_message	deferred_messages [MSG_LAST]

uint8_t	next_deferred_message

uint8_t	num_deferred_messages

mavlink_signing_t	signing

struct {
GCS_MAVLINK::protocol_handler_fn_t handler

uint32_t last_mavlink_ms

uint32_t last_alternate_ms

bool active

}	alternative

struct {
bool initialised

int64_t link_offset_usec

uint32_t min_sample_counter

int64_t min_sample_us

}	lag_correction

struct Location	global_position_current_loc

Static Private Attributes
static uint32_t	reserve_param_space_start_ms

static uint8_t	mavlink_active = 0

static uint8_t	chan_is_streaming = 0

static MAVLink_routing	routing

static AP_Frsky_Telem *	frsky_telemetry_p

static const AP_SerialManager *	serialmanager_p

static ObjectBuffer< pending_param_request >	param_requests

static ObjectBuffer< pending_param_reply >	param_replies

static bool	param_timer_registered

static mavlink_signing_streams_t	signing_streams

static uint32_t	last_signing_save_ms

static StorageAccess	_signing_storage

Friends
class	GCS

Detailed Description

MAVLink transport control class.

Definition at line 98 of file AHRS_Test.cpp.

Member Enumeration Documentation

◆ streams

enum GCS_MAVLINK::streams : uint8_t

Enumerator
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

Definition at line 131 of file GCS.h.

Constructor & Destructor Documentation

◆ GCS_MAVLINK()

GCS_MAVLINK::GCS_MAVLINK ( )

Definition at line 52 of file GCS_Common.cpp.

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Member Function Documentation

◆ _handle_command_preflight_calibration()

MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration ( const mavlink_command_long_t & packet )

protectedvirtual

Definition at line 2529 of file GCS_Common.cpp.

Referenced by handle_command_preflight_calibration().

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◆ _handle_command_preflight_calibration_baro()

MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro ( )

protectedvirtual

Definition at line 2514 of file GCS_Common.cpp.

Referenced by _handle_command_preflight_calibration().

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◆ _set_mode_common()

MAV_RESULT GCS_MAVLINK::_set_mode_common	(	const MAV_MODE	base_mode,
		const uint32_t	custom_mode
	)

private

Definition at line 1411 of file GCS_Common.cpp.

Referenced by handle_command_do_set_mode(), and handle_set_mode().

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◆ accept_packet()

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

inlineprotectedvirtual

Definition at line 252 of file GCS.h.

Referenced by packetReceived().

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◆ active_channel_mask()

static uint8_t GCS_MAVLINK::active_channel_mask ( void )

inlinestatic

Definition at line 201 of file GCS.h.

Referenced by MAVLink_routing::handle_heartbeat(), GCS::send_parameter_value(), AP_Button::send_report(), GCS::send_statustext(), and GCS::send_text().

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◆ adjust_rate_for_stream_trigger()

float GCS_MAVLINK::adjust_rate_for_stream_trigger ( enum streams stream_num )

private

Definition at line 1637 of file GCS_Common.cpp.

Referenced by stream_trigger().

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◆ base_mode()

virtual MAV_MODE GCS_MAVLINK::base_mode ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_visual_odom(), and send_heartbeat().

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◆ calibrate_gyros()

bool GCS_MAVLINK::calibrate_gyros ( )

private

Definition at line 2504 of file GCS_Common.cpp.

Referenced by _handle_command_preflight_calibration().

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◆ correct_offboard_timestamp_usec_to_ms()

uint32_t GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms	(	uint64_t	offboard_usec,
		uint16_t	payload_size
	)

private

Definition at line 3105 of file GCS_Common.cpp.

Referenced by handle_common_vision_position_estimate_data().

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◆ custom_mode()

virtual uint32_t GCS_MAVLINK::custom_mode ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_visual_odom(), and send_heartbeat().

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◆ data_stream_send()

void GCS_MAVLINK::data_stream_send ( void )

Definition at line 3041 of file GCS_Common.cpp.

Referenced by GCS::instance().

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◆ disable_channel_routing()

static void GCS_MAVLINK::disable_channel_routing ( mavlink_channel_t chan )

inlinestatic

Definition at line 221 of file GCS.h.

◆ find_by_mavtype()

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

inlinestatic

Definition at line 227 of file GCS.h.

Referenced by AP_Mount_SToRM32::find_gimbal().

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◆ frame_type()

virtual MAV_TYPE GCS_MAVLINK::frame_type ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_visual_odom(), and send_heartbeat().

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◆ FUNCTOR_TYPEDEF()

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

Referenced by find_by_mavtype().

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◆ get_advanced_failsafe()

virtual AP_AdvancedFailsafe* GCS_MAVLINK::get_advanced_failsafe ( ) const

inlineprotectedvirtual

Definition at line 257 of file GCS.h.

Referenced by handle_flight_termination().

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◆ get_camera()

virtual class AP_Camera* GCS_MAVLINK::get_camera ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by accept_packet(), handle_command_camera(), handle_common_camera_message(), and try_send_camera_message().

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◆ get_chan()

mavlink_channel_t GCS_MAVLINK::get_chan ( ) const

inline

Definition at line 152 of file GCS.h.

Referenced by DataFlash_Class::handle_log_request_data(), DataFlash_Class::handle_log_send_data(), DataFlash_Class::handle_log_send_listing(), DataFlash_Class::handle_mavlink_msg(), AC_Fence::handle_msg(), and send_simstate().

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◆ get_compass()

virtual Compass* GCS_MAVLINK::get_compass ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by accept_packet(), handle_command_mag_cal(), handle_command_preflight_set_sensor_offsets(), and try_send_compass_message().

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◆ get_fwver()

virtual const AP_FWVersion& GCS_MAVLINK::get_fwver ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_visual_odom(), send_autopilot_version(), and send_banner().

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◆ get_last_heartbeat_time()

uint32_t GCS_MAVLINK::get_last_heartbeat_time ( ) const

inline

Definition at line 153 of file GCS.h.

Referenced by DataFlash_Class::handle_log_send_data(), and DataFlash_Class::handle_log_send_listing().

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◆ get_mission()

virtual AP_Mission* GCS_MAVLINK::get_mission ( )

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by accept_packet(), handle_common_mission_message(), and try_send_mission_message().

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◆ get_rally()

virtual AP_Rally* GCS_MAVLINK::get_rally ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by accept_packet(), handle_rally_fetch_point(), and handle_rally_point().

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◆ get_uart()

AP_HAL::UARTDriver* GCS_MAVLINK::get_uart ( )

inline

Definition at line 119 of file GCS.h.

Referenced by AP_AccelCal::_printf().

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◆ get_visual_odom()

virtual AP_VisualOdom* GCS_MAVLINK::get_visual_odom ( ) const

inlineprotectedvirtual

Definition at line 258 of file GCS.h.

Referenced by handle_vision_position_delta().

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◆ global_position_int_alt()

int32_t GCS_MAVLINK::global_position_int_alt ( ) const

protectedvirtual

Definition at line 2846 of file GCS_Common.cpp.

Referenced by send_global_position_int().

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◆ global_position_int_relative_alt()

int32_t GCS_MAVLINK::global_position_int_relative_alt ( ) const

protectedvirtual

Definition at line 2849 of file GCS_Common.cpp.

Referenced by send_global_position_int().

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◆ handle_att_pos_mocap()

void GCS_MAVLINK::handle_att_pos_mocap ( mavlink_message_t * msg )

private

Definition at line 2190 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_change_alt_request()

virtual void GCS_MAVLINK::handle_change_alt_request ( AP_Mission::Mission_Command & cmd )

privatepure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by handle_mission_item().

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◆ handle_command_ack()

void GCS_MAVLINK::handle_command_ack ( const mavlink_message_t * msg )

protectedvirtual

Definition at line 2225 of file GCS_Common.cpp.

Referenced by handle_common_message(), and persist_streamrates().

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◆ handle_command_camera()

MAV_RESULT GCS_MAVLINK::handle_command_camera ( const mavlink_command_long_t & packet )

protected

Definition at line 1984 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_do_send_banner()

MAV_RESULT GCS_MAVLINK::handle_command_do_send_banner ( const mavlink_command_long_t & packet )

protected

Definition at line 2605 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_do_set_mode()

MAV_RESULT GCS_MAVLINK::handle_command_do_set_mode ( const mavlink_command_long_t & packet )

protected

Definition at line 2611 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_get_home_position()

MAV_RESULT GCS_MAVLINK::handle_command_get_home_position ( const mavlink_command_long_t & packet )

protected

Definition at line 2619 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_long_message()

MAV_RESULT GCS_MAVLINK::handle_command_long_message ( mavlink_command_long_t & packet )

protected

Definition at line 2630 of file GCS_Common.cpp.

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◆ handle_command_mag_cal()

MAV_RESULT GCS_MAVLINK::handle_command_mag_cal ( const mavlink_command_long_t & packet )

protected

Definition at line 2584 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_preflight_calibration()

MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration ( const mavlink_command_long_t & packet )

protectedvirtual

Definition at line 2574 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_preflight_set_sensor_offsets()

MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets ( const mavlink_command_long_t & packet )

protected

Definition at line 2482 of file GCS_Common.cpp.

Referenced by handle_command_long_message().

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◆ handle_command_request_autopilot_capabilities()

MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities ( const mavlink_command_long_t & packet )

protected

Definition at line 2593 of file GCS_Common.cpp.

Referenced by handle_command_long_message(), and params_ready().

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◆ handle_common_camera_message()

void GCS_MAVLINK::handle_common_camera_message ( const mavlink_message_t * msg )

protected

Definition at line 1965 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_common_gps_message()

void GCS_MAVLINK::handle_common_gps_message ( mavlink_message_t * msg )

protected

Definition at line 1959 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_common_message()

void GCS_MAVLINK::handle_common_message ( mavlink_message_t * msg )

protected

Definition at line 2236 of file GCS_Common.cpp.

Referenced by params_ready().

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◆ handle_common_mission_message()

void GCS_MAVLINK::handle_common_mission_message ( mavlink_message_t * msg )

private

Definition at line 2383 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_common_param_message()

void GCS_MAVLINK::handle_common_param_message ( mavlink_message_t * msg )

protected

Definition at line 442 of file GCS_Param.cpp.

Referenced by handle_common_message(), and persist_streamrates().

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◆ handle_common_rally_message()

void GCS_MAVLINK::handle_common_rally_message ( mavlink_message_t * msg )

protected

Definition at line 87 of file GCS_Rally.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_common_vision_position_estimate_data()

void GCS_MAVLINK::handle_common_vision_position_estimate_data	(	const uint64_t	usec,
		const float	x,
		const float	y,
		const float	z,
		const float	roll,
		const float	pitch,
		const float	yaw,
		const uint16_t	payload_size
	)

private

Definition at line 2133 of file GCS_Common.cpp.

Referenced by handle_global_vision_position_estimate(), handle_vicon_position_estimate(), and handle_vision_position_estimate().

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◆ handle_data_packet()

void GCS_MAVLINK::handle_data_packet ( mavlink_message_t * msg )

protected

Definition at line 2072 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_device_op_read()

void GCS_MAVLINK::handle_device_op_read ( mavlink_message_t * msg )

protected

Definition at line 29 of file GCS_DeviceOp.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_device_op_write()

void GCS_MAVLINK::handle_device_op_write ( mavlink_message_t * msg )

protected

Definition at line 81 of file GCS_DeviceOp.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_flight_termination()

MAV_RESULT GCS_MAVLINK::handle_flight_termination ( const mavlink_command_long_t & packet )

protectedvirtual

Definition at line 1818 of file GCS_Common.cpp.

Referenced by handle_command_long_message(), and params_ready().

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◆ handle_gimbal_report()

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

protected

Definition at line 599 of file GCS_Common.cpp.

Referenced by params_ready().

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◆ handle_global_vision_position_estimate()

void GCS_MAVLINK::handle_global_vision_position_estimate ( mavlink_message_t * msg )

private

Definition at line 2112 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_guided_request()

virtual bool GCS_MAVLINK::handle_guided_request ( AP_Mission::Mission_Command & cmd )

privatepure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by handle_mission_item().

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◆ handle_mission_clear_all()

void GCS_MAVLINK::handle_mission_clear_all	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protected

Definition at line 550 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_count()

void GCS_MAVLINK::handle_mission_count	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protected

Definition at line 519 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_item()

bool GCS_MAVLINK::handle_mission_item	(	mavlink_message_t *	msg,
		AP_Mission &	mission
	)

protected

Definition at line 654 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_request()

void GCS_MAVLINK::handle_mission_request	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protected

Definition at line 395 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_request_list()

void GCS_MAVLINK::handle_mission_request_list	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protected

Definition at line 378 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_set_current()

void GCS_MAVLINK::handle_mission_set_current	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protectedvirtual

Definition at line 504 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_mission_write_partial_list()

void GCS_MAVLINK::handle_mission_write_partial_list	(	AP_Mission &	mission,
		mavlink_message_t *	msg
	)

protected

Definition at line 571 of file GCS_Common.cpp.

Referenced by handle_common_mission_message(), and persist_streamrates().

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◆ handle_param_request_list()

void GCS_MAVLINK::handle_param_request_list ( mavlink_message_t * msg )

protected

Definition at line 188 of file GCS_Param.cpp.

Referenced by handle_common_param_message(), and persist_streamrates().

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◆ handle_param_request_read()

void GCS_MAVLINK::handle_param_request_read ( mavlink_message_t * msg )

protected

Definition at line 206 of file GCS_Param.cpp.

Referenced by handle_common_param_message(), and persist_streamrates().

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◆ handle_param_set()

void GCS_MAVLINK::handle_param_set ( mavlink_message_t * msg )

protected

Definition at line 238 of file GCS_Param.cpp.

Referenced by handle_common_param_message(), and persist_streamrates().

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◆ handle_preflight_reboot()

MAV_RESULT GCS_MAVLINK::handle_preflight_reboot	(	const mavlink_command_long_t &	packet,
		bool	disable_overrides
	)

protected

Definition at line 1781 of file GCS_Common.cpp.

Referenced by params_ready().

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◆ handle_radio_status()

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

protected

Definition at line 616 of file GCS_Common.cpp.

Referenced by params_ready().

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◆ handle_rally_fetch_point()

void GCS_MAVLINK::handle_rally_fetch_point ( mavlink_message_t * msg )

protected

Definition at line 59 of file GCS_Rally.cpp.

Referenced by handle_common_rally_message(), and params_ready().

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◆ handle_rally_point()

void GCS_MAVLINK::handle_rally_point ( mavlink_message_t * msg )

protected

Definition at line 20 of file GCS_Rally.cpp.

Referenced by handle_common_rally_message(), and params_ready().

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◆ handle_rc_bind()

MAV_RESULT GCS_MAVLINK::handle_rc_bind ( const mavlink_command_long_t & packet )

protected

Definition at line 1836 of file GCS_Common.cpp.

Referenced by handle_command_long_message(), and params_ready().

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◆ handle_request_data_stream()

void GCS_MAVLINK::handle_request_data_stream ( mavlink_message_t * msg )

protected

Definition at line 127 of file GCS_Param.cpp.

Referenced by handle_common_message(), and persist_streamrates().

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◆ handle_send_autopilot_version()

void GCS_MAVLINK::handle_send_autopilot_version ( const mavlink_message_t * msg )

protected

Definition at line 2447 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_serial_control()

void GCS_MAVLINK::handle_serial_control ( const mavlink_message_t * msg )

protected

handle a SERIAL_CONTROL message

Definition at line 30 of file GCS_serial_control.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_servorelay_message()

MAV_RESULT GCS_MAVLINK::handle_servorelay_message ( mavlink_command_long_t & packet )

private

Definition at line 5 of file GCS_ServoRelay.cpp.

Referenced by handle_command_long_message().

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◆ handle_set_gps_global_origin()

void GCS_MAVLINK::handle_set_gps_global_origin ( const mavlink_message_t * msg )

protected

Definition at line 2051 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_set_mode()

void GCS_MAVLINK::handle_set_mode ( mavlink_message_t * msg )

protected

Definition at line 1394 of file GCS_Common.cpp.

Referenced by handle_common_message(), and persist_streamrates().

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◆ handle_setup_signing()

void GCS_MAVLINK::handle_setup_signing ( const mavlink_message_t * msg )

protected

Definition at line 66 of file GCS_Signing.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_statustext()

void GCS_MAVLINK::handle_statustext ( mavlink_message_t * msg )

protected

Definition at line 1931 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_timesync()

void GCS_MAVLINK::handle_timesync ( mavlink_message_t * msg )

protected

Definition at line 1867 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_vicon_position_estimate()

void GCS_MAVLINK::handle_vicon_position_estimate ( mavlink_message_t * msg )

private

Definition at line 2121 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handle_vision_position_delta()

void GCS_MAVLINK::handle_vision_position_delta ( mavlink_message_t * msg )

protected

Definition at line 2094 of file GCS_Common.cpp.

Referenced by handle_common_message(), and params_ready().

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◆ handle_vision_position_estimate()

void GCS_MAVLINK::handle_vision_position_estimate ( mavlink_message_t * msg )

private

Definition at line 2103 of file GCS_Common.cpp.

Referenced by handle_common_message().

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◆ handleMessage()

virtual void GCS_MAVLINK::handleMessage ( mavlink_message_t * msg )

privatepure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by packetReceived().

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◆ have_flow_control()

bool GCS_MAVLINK::have_flow_control ( void )

Definition at line 103 of file GCS_Param.cpp.

Referenced by DataFlash_Class::handle_log_send(), is_high_bandwidth(), and queued_param_send().

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◆ in_hil_mode()

virtual bool GCS_MAVLINK::in_hil_mode ( ) const

inlineprotectedvirtual

Definition at line 248 of file GCS.h.

Referenced by data_stream_send(), and send_servo_output_raw().

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◆ init()

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

Definition at line 58 of file GCS_Common.cpp.

Referenced by setup(), and setup_uart().

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◆ is_high_bandwidth()

bool GCS_MAVLINK::is_high_bandwidth ( )

inline

Definition at line 148 of file GCS.h.

Referenced by DataFlash_Class::handle_log_send().

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◆ load_signing_key()

void GCS_MAVLINK::load_signing_key ( void )

private

Definition at line 116 of file GCS_Signing.cpp.

Referenced by setup_uart().

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◆ lock_channel()

void GCS_MAVLINK::lock_channel	(	mavlink_channel_t	chan,
		bool	lock
	)

private

Definition at line 56 of file GCS_MAVLink.cpp.

Referenced by handle_serial_control().

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◆ log_vision_position_estimate_data()

void GCS_MAVLINK::log_vision_position_estimate_data	(	const uint64_t	usec,
		const float	x,
		const float	y,
		const float	z,
		const float	roll,
		const float	pitch,
		const float	yaw
	)

private

Definition at line 2170 of file GCS_Common.cpp.

Referenced by handle_att_pos_mocap(), and handle_common_vision_position_estimate_data().

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◆ packet_overhead()

uint8_t GCS_MAVLINK::packet_overhead ( void ) const

inlineprotected

Definition at line 276 of file GCS.h.

Referenced by queued_param_send().

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◆ packet_overhead_chan()

uint8_t GCS_MAVLINK::packet_overhead_chan ( mavlink_channel_t chan )

static

Definition at line 238 of file GCS_Signing.cpp.

Referenced by MAVLink_routing::check_and_forward(), find_by_mavtype(), MAVLink_routing::handle_heartbeat(), packet_overhead(), and MAVLink_routing::send_to_components().

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◆ packetReceived()

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

virtual

Definition at line 855 of file GCS_Common.cpp.

Referenced by update().

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◆ param_io_timer()

void GCS_MAVLINK::param_io_timer ( void )

private

Definition at line 375 of file GCS_Param.cpp.

Referenced by send_queued_parameters().

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◆ params_ready()

virtual bool GCS_MAVLINK::params_ready ( ) const

inlineprotectedvirtual

Definition at line 298 of file GCS.h.

Referenced by handle_param_request_list().

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◆ persist_streamrates()

virtual bool GCS_MAVLINK::persist_streamrates ( ) const

inlineprotectedvirtual

Definition at line 281 of file GCS.h.

Referenced by handle_request_data_stream().

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◆ push_deferred_messages()

void GCS_MAVLINK::push_deferred_messages ( )

private

Definition at line 792 of file GCS_Common.cpp.

Referenced by retry_deferred(), and send_message().

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◆ queued_param_send()

void GCS_MAVLINK::queued_param_send ( )

Send the next pending parameter, called from deferred message handling code.

Definition at line 36 of file GCS_Param.cpp.

Referenced by try_send_message().

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◆ queued_waypoint_send()

void GCS_MAVLINK::queued_waypoint_send ( )

Send the next pending waypoint, called from deferred message handling code.

Definition at line 165 of file GCS_Common.cpp.

Referenced by handle_mission_item(), and try_send_mission_message().

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◆ retry_deferred()

void GCS_MAVLINK::retry_deferred ( )

Definition at line 806 of file GCS_Common.cpp.

Referenced by GCS::instance(), and streaming_channel_mask().

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◆ save_signing_timestamp()

void GCS_MAVLINK::save_signing_timestamp ( bool force_save_now )

staticprivate

Definition at line 193 of file GCS_Signing.cpp.

Referenced by send_message().

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◆ send_accelcal_vehicle_position()

void GCS_MAVLINK::send_accelcal_vehicle_position ( uint32_t position )

Definition at line 1716 of file GCS_Common.cpp.

Referenced by send_position_target_global_int(), and AP_AccelCal::update().

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◆ send_ahrs()

void GCS_MAVLINK::send_ahrs ( )

Definition at line 1219 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_ahrs2()

void GCS_MAVLINK::send_ahrs2 ( )

Definition at line 342 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_attitude()

void GCS_MAVLINK::send_attitude ( ) const

virtual

Definition at line 2831 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_autopilot_version()

void GCS_MAVLINK::send_autopilot_version ( ) const

Definition at line 1478 of file GCS_Common.cpp.

Referenced by handle_command_request_autopilot_capabilities(), and handle_send_autopilot_version().

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◆ send_banner()

void GCS_MAVLINK::send_banner ( )

protectedvirtual

Definition at line 2452 of file GCS_Common.cpp.

Referenced by handle_command_do_send_banner(), handle_param_request_list(), and params_ready().

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◆ send_battery2()

void GCS_MAVLINK::send_battery2 ( )

Definition at line 1376 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_battery_status() [1/2]

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

Definition at line 195 of file GCS_Common.cpp.

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◆ send_battery_status() [2/2]

bool GCS_MAVLINK::send_battery_status ( ) const

Definition at line 217 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_collision_all()

void GCS_MAVLINK::send_collision_all	(	const AP_Avoidance::Obstacle &	threat,
		MAV_COLLISION_ACTION	behaviour
	)

static

Definition at line 1695 of file GCS_Common.cpp.

Referenced by AP_Avoidance::handle_threat_gcs_notify(), and send_position_target_global_int().

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◆ send_distance_sensor() [1/2]

bool GCS_MAVLINK::send_distance_sensor ( ) const

Definition at line 246 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_distance_sensor() [2/2]

void GCS_MAVLINK::send_distance_sensor	(	const AP_RangeFinder_Backend *	sensor,
		const uint8_t	instance
	)		const

private

Definition at line 228 of file GCS_Common.cpp.

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◆ send_ekf_origin()

void GCS_MAVLINK::send_ekf_origin ( ) const

Definition at line 1606 of file GCS_Common.cpp.

Referenced by handle_command_get_home_position(), GCS::instance(), and set_ekf_origin().

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◆ send_global_position_int()

void GCS_MAVLINK::send_global_position_int ( )

private

Definition at line 2855 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_heartbeat()

void GCS_MAVLINK::send_heartbeat ( void ) const

Definition at line 1626 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_home()

void GCS_MAVLINK::send_home ( ) const

Definition at line 1583 of file GCS_Common.cpp.

Referenced by handle_command_get_home_position(), and GCS::instance().

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◆ send_hwstatus()

void GCS_MAVLINK::send_hwstatus ( )

protected

Definition at line 2765 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_local_position()

void GCS_MAVLINK::send_local_position ( ) const

Definition at line 1534 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_meminfo()

void GCS_MAVLINK::send_meminfo ( void )

Definition at line 179 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_message()

void GCS_MAVLINK::send_message ( enum ap_message id )

Definition at line 812 of file GCS_Common.cpp.

Referenced by data_stream_send(), handle_mission_item(), GCS::instance(), send_queued_parameters(), and update().

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◆ send_named_float()

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

Definition at line 1576 of file GCS_Common.cpp.

Referenced by GCS::instance().

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◆ send_parameter_reply()

void GCS_MAVLINK::send_parameter_reply ( void )

private

Definition at line 424 of file GCS_Param.cpp.

Referenced by queued_param_send().

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◆ send_position_target_global_int()

virtual void GCS_MAVLINK::send_position_target_global_int ( )

inlinevirtual

Definition at line 194 of file GCS.h.

Referenced by try_send_message().

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◆ send_power_status()

void GCS_MAVLINK::send_power_status ( void )

Definition at line 187 of file GCS_Common.cpp.

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◆ send_proximity()

bool GCS_MAVLINK::send_proximity ( ) const

Definition at line 296 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_queued_parameters()

void GCS_MAVLINK::send_queued_parameters ( void )

Definition at line 352 of file GCS_Param.cpp.

Referenced by data_stream_send(), and streaming_channel_mask().

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◆ send_radio_in()

void GCS_MAVLINK::send_radio_in ( )

Definition at line 988 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_rangefinder_downward()

void GCS_MAVLINK::send_rangefinder_downward ( ) const

Definition at line 280 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_raw_imu()

void GCS_MAVLINK::send_raw_imu ( )

Definition at line 1047 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_scaled_pressure()

void GCS_MAVLINK::send_scaled_pressure ( )

Definition at line 1152 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_scaled_pressure3()

void GCS_MAVLINK::send_scaled_pressure3 ( )

virtual

Definition at line 1132 of file GCS_Common.cpp.

Referenced by send_scaled_pressure().

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◆ send_sensor_offsets()

void GCS_MAVLINK::send_sensor_offsets ( )

Definition at line 1185 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_servo_output_raw()

void GCS_MAVLINK::send_servo_output_raw ( )

Definition at line 1669 of file GCS_Common.cpp.

Referenced by send_position_target_global_int(), and try_send_message().

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◆ send_simstate()

void GCS_MAVLINK::send_simstate ( ) const

virtual

Definition at line 2471 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_system_time()

void GCS_MAVLINK::send_system_time ( )

Definition at line 976 of file GCS_Common.cpp.

Referenced by try_send_gps_message().

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◆ send_text()

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

Definition at line 605 of file GCS_Common.cpp.

Referenced by AP_AccelCal::_printf(), handle_command_long_message(), DataFlash_Class::handle_log_request_data(), DataFlash_Class::handle_log_request_list(), handle_mission_item(), handle_mission_write_partial_list(), AC_Fence::handle_msg(), handle_rally_fetch_point(), handle_rally_point(), GCS::instance(), and send_banner().

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◆ send_timesync()

void GCS_MAVLINK::send_timesync ( )

protected

Definition at line 1921 of file GCS_Common.cpp.

Referenced by params_ready(), and update().

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◆ send_to_components()

static void GCS_MAVLINK::send_to_components ( const mavlink_message_t * msg )

inlinestatic

Definition at line 216 of file GCS.h.

Referenced by AP_Camera::configure(), AP_Camera::control(), and AP_Camera::take_picture().

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◆ send_vfr_hud()

void GCS_MAVLINK::send_vfr_hud ( )

Definition at line 1748 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ send_vibration()

void GCS_MAVLINK::send_vibration ( ) const

Definition at line 1559 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ set_ekf_origin()

void GCS_MAVLINK::set_ekf_origin ( const Location & loc )

protected

Definition at line 2025 of file GCS_Common.cpp.

Referenced by get_visual_odom(), and handle_set_gps_global_origin().

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◆ set_mode()

virtual bool GCS_MAVLINK::set_mode ( uint8_t mode )

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by _set_mode_common(), and get_visual_odom().

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◆ setup_uart()

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

Definition at line 84 of file GCS_Common.cpp.

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◆ signing_enabled()

bool GCS_MAVLINK::signing_enabled ( void ) const

private

Definition at line 226 of file GCS_Signing.cpp.

◆ signing_key_load()

bool GCS_MAVLINK::signing_key_load ( struct SigningKey & key )

staticprivate

Definition at line 49 of file GCS_Signing.cpp.

◆ signing_key_save()

bool GCS_MAVLINK::signing_key_save ( const struct SigningKey & key )

staticprivate

Definition at line 41 of file GCS_Signing.cpp.

◆ stream_trigger()

bool GCS_MAVLINK::stream_trigger ( enum streams stream_num )

Definition at line 279 of file GCS_Param.cpp.

Referenced by data_stream_send(), and send_queued_parameters().

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◆ streaming_channel_mask()

static uint8_t GCS_MAVLINK::streaming_channel_mask ( void )

inlinestatic

Definition at line 204 of file GCS.h.

Referenced by GCS::send_statustext(), and GCS::send_text().

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◆ sysid_my_gcs()

virtual uint8_t GCS_MAVLINK::sysid_my_gcs ( ) const

pure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_uart(), and handle_statustext().

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◆ system_status()

virtual MAV_STATE GCS_MAVLINK::system_status ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by get_visual_odom(), and send_heartbeat().

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◆ telem_delay()

virtual uint32_t GCS_MAVLINK::telem_delay ( ) const

protectedpure virtual

Implemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Referenced by telemetry_delayed().

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◆ telemetry_delayed()

bool GCS_MAVLINK::telemetry_delayed ( ) const

protected

Definition at line 1650 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ timesync_receive_timestamp_ns()

uint64_t GCS_MAVLINK::timesync_receive_timestamp_ns ( ) const

protected

Definition at line 1847 of file GCS_Common.cpp.

Referenced by handle_timesync(), and params_ready().

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◆ timesync_timestamp_ns()

uint64_t GCS_MAVLINK::timesync_timestamp_ns ( ) const

protected

Definition at line 1856 of file GCS_Common.cpp.

Referenced by params_ready(), and send_timesync().

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◆ try_send_camera_message()

bool GCS_MAVLINK::try_send_camera_message ( enum ap_message id )

protected

Definition at line 2810 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ try_send_compass_message()

bool GCS_MAVLINK::try_send_compass_message ( enum ap_message id )

protected

Definition at line 2711 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ try_send_gps_message()

bool GCS_MAVLINK::try_send_gps_message ( enum ap_message id )

protected

Definition at line 2773 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ try_send_message()

bool GCS_MAVLINK::try_send_message ( enum ap_message id )

protectedvirtual

Reimplemented in GCS_MAVLINK_routing, and GCS_MAVLINK_Dummy.

Definition at line 2877 of file GCS_Common.cpp.

Referenced by push_deferred_messages(), and send_message().

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◆ try_send_mission_message()

bool GCS_MAVLINK::try_send_mission_message ( enum ap_message id )

protected

Definition at line 2734 of file GCS_Common.cpp.

Referenced by try_send_message().

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◆ update()

void GCS_MAVLINK::update ( uint32_t max_time_us = 1000 )

Definition at line 882 of file GCS_Common.cpp.

Referenced by GCS::instance().

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◆ update_signing_timestamp()

void GCS_MAVLINK::update_signing_timestamp ( uint64_t timestamp_usec )

static

Definition at line 164 of file GCS_Signing.cpp.

Referenced by find_by_mavtype().

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◆ vfr_hud_airspeed()

float GCS_MAVLINK::vfr_hud_airspeed ( ) const

protectedvirtual

Definition at line 1731 of file GCS_Common.cpp.

Referenced by send_vfr_hud(), and vfr_hud_make_alt_relative().

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◆ vfr_hud_climbrate()

float GCS_MAVLINK::vfr_hud_climbrate ( ) const

protectedvirtual

Definition at line 1743 of file GCS_Common.cpp.

Referenced by send_vfr_hud(), and vfr_hud_make_alt_relative().

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◆ vfr_hud_make_alt_relative()

virtual bool GCS_MAVLINK::vfr_hud_make_alt_relative ( ) const

inlineprotectedvirtual

Definition at line 374 of file GCS.h.

Referenced by send_vfr_hud().

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◆ vfr_hud_throttle()

virtual int16_t GCS_MAVLINK::vfr_hud_throttle ( ) const

inlineprotectedvirtual

Definition at line 377 of file GCS.h.

Referenced by send_vfr_hud().

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Friends And Related Function Documentation

◆ GCS

friend class GCS

friend

Definition at line 104 of file GCS.h.

Member Data Documentation

◆ _perf_packet

AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_packet

private

Definition at line 435 of file GCS.h.

Referenced by init(), and update().

◆ _perf_packet_name

char GCS_MAVLINK::_perf_packet_name[16]

private

Definition at line 437 of file GCS.h.

Referenced by init().

◆ _perf_update

AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_update

private

Definition at line 436 of file GCS.h.

Referenced by init(), and update().

◆ _perf_update_name

char GCS_MAVLINK::_perf_update_name[16]

private

Definition at line 438 of file GCS.h.

Referenced by init().

◆ _port

AP_HAL::UARTDriver* GCS_MAVLINK::_port

private

The stream we are communicating over.

Definition at line 393 of file GCS.h.

Referenced by correct_offboard_timestamp_usec_to_ms(), get_uart(), have_flow_control(), init(), timesync_receive_timestamp_ns(), and update().

◆ _queued_parameter

AP_Param* GCS_MAVLINK::_queued_parameter

protected

next parameter to

Definition at line 273 of file GCS.h.

Referenced by adjust_rate_for_stream_trigger(), handle_param_request_list(), init(), queued_param_send(), and send_queued_parameters().

◆ _queued_parameter_count

uint16_t GCS_MAVLINK::_queued_parameter_count

private

saved count of

Definition at line 403 of file GCS.h.

Referenced by handle_param_request_list(), and queued_param_send().

◆ _queued_parameter_index

uint16_t GCS_MAVLINK::_queued_parameter_index

private

AP_Param token for.

next queued

Definition at line 401 of file GCS.h.

Referenced by handle_param_request_list(), and queued_param_send().

◆ _queued_parameter_send_time_ms

uint32_t GCS_MAVLINK::_queued_parameter_send_time_ms

private

Definition at line 406 of file GCS.h.

Referenced by queued_param_send().

◆ _queued_parameter_token

AP_Param::ParamToken GCS_MAVLINK::_queued_parameter_token

private

Definition at line 399 of file GCS.h.

Referenced by handle_param_request_list(), and queued_param_send().

◆ _queued_parameter_type

enum ap_var_type GCS_MAVLINK::_queued_parameter_type

private

type of the next

Perform queued sending operations

Definition at line 397 of file GCS.h.

Referenced by handle_param_request_list(), and queued_param_send().

◆ _signing_storage

StorageAccess GCS_MAVLINK::_signing_storage

staticprivate

Definition at line 530 of file GCS.h.

◆ _timesync_request

struct { ... } GCS_MAVLINK::_timesync_request

Referenced by handle_timesync(), send_timesync(), and update().

◆ active

bool GCS_MAVLINK::active

Definition at line 542 of file GCS.h.

◆ all_stream_entries

const struct stream_entries GCS_MAVLINK::all_stream_entries[]

static

Definition at line 244 of file GCS.h.

Referenced by data_stream_send().

◆ alternative

struct { ... } GCS_MAVLINK::alternative

Referenced by GCS::install_alternative_protocol(), and update().

◆ chan

mavlink_channel_t GCS_MAVLINK::chan

protected

Definition at line 275 of file GCS.h.

Referenced by _set_mode_common(), comm_get_available(), comm_get_txspace(), comm_send_buffer(), GCS::data_stream_send(), find_by_mavtype(), get_chan(), handle_data_packet(), handle_device_op_read(), handle_device_op_write(), handle_gimbal_report(), handle_global_vision_position_estimate(), handle_mission_clear_all(), handle_mission_count(), handle_mission_item(), handle_mission_request(), handle_mission_request_list(), handle_mission_set_current(), handle_param_request_read(), handle_rally_fetch_point(), handle_serial_control(), handle_set_mode(), handle_timesync(), handle_vicon_position_estimate(), handle_vision_position_estimate(), have_flow_control(), init(), GCS::instance(), is_high_bandwidth(), lock_channel(), packetReceived(), queued_param_send(), queued_waypoint_send(), GCS::retry_deferred(), send_accelcal_vehicle_position(), send_ahrs(), send_ahrs2(), send_attitude(), send_autopilot_version(), send_battery2(), send_battery_status(), send_collision_all(), send_distance_sensor(), send_ekf_origin(), send_global_position_int(), send_heartbeat(), send_home(), send_hwstatus(), send_local_position(), send_meminfo(), GCS::send_message(), GCS::send_mission_item_reached_message(), send_named_float(), send_power_status(), send_proximity(), send_radio_in(), send_rangefinder_downward(), send_raw_imu(), send_scaled_pressure(), send_scaled_pressure3(), send_sensor_offsets(), send_servo_output_raw(), send_system_time(), send_text(), send_timesync(), send_vfr_hud(), send_vibration(), setup_uart(), GCS::setup_uarts(), stream_trigger(), telemetry_delayed(), timesync_receive_timestamp_ns(), try_send_camera_message(), try_send_compass_message(), try_send_gps_message(), try_send_mission_message(), update(), and GCS::update().

◆ chan_is_streaming

uint8_t GCS_MAVLINK::chan_is_streaming = 0

staticprivate

Definition at line 453 of file GCS.h.

Referenced by stream_trigger(), and streaming_channel_mask().

◆ deferred_messages

enum ap_message GCS_MAVLINK::deferred_messages[MSG_LAST]

private

Definition at line 442 of file GCS.h.

Referenced by push_deferred_messages(), and send_message().

◆ frsky_telemetry_p

AP_Frsky_Telem* GCS_MAVLINK::frsky_telemetry_p

staticprivate

Definition at line 459 of file GCS.h.

Referenced by GCS::register_frsky_telemetry_callback(), and GCS::send_statustext().

◆ global_position_current_loc

struct Location GCS_MAVLINK::global_position_current_loc

private

Definition at line 555 of file GCS.h.

Referenced by global_position_int_alt(), send_global_position_int(), and send_vfr_hud().

◆ handler

GCS_MAVLINK::protocol_handler_fn_t GCS_MAVLINK::handler

Definition at line 539 of file GCS.h.

Referenced by handle_servorelay_message(), and GCS::install_alternative_protocol().

◆ initialised

bool GCS_MAVLINK::initialised

Definition at line 126 of file GCS.h.

Referenced by init(), queued_param_send(), and queued_waypoint_send().

◆ interval_ms

const uint16_t GCS_MAVLINK::interval_ms = 10000

Definition at line 334 of file GCS.h.

◆ lag_correction

struct { ... } GCS_MAVLINK::lag_correction

Referenced by correct_offboard_timestamp_usec_to_ms().

◆ last_alternate_ms

uint32_t GCS_MAVLINK::last_alternate_ms

Definition at line 541 of file GCS.h.

◆ last_heartbeat_time

uint32_t GCS_MAVLINK::last_heartbeat_time

Definition at line 153 of file GCS.h.

Referenced by try_send_message().

◆ last_mavlink_ms

uint32_t GCS_MAVLINK::last_mavlink_ms

Definition at line 540 of file GCS.h.

◆ last_radio_status_remrssi_ms

uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms

static

Definition at line 158 of file GCS.h.

Referenced by handle_radio_status().

◆ last_sent_ms

uint32_t GCS_MAVLINK::last_sent_ms

Definition at line 333 of file GCS.h.

◆ last_signing_save_ms

uint32_t GCS_MAVLINK::last_signing_save_ms

staticprivate

Definition at line 528 of file GCS.h.

◆ link_offset_usec

int64_t GCS_MAVLINK::link_offset_usec

Definition at line 548 of file GCS.h.

◆ mavlink_active

uint8_t GCS_MAVLINK::mavlink_active = 0

staticprivate

Definition at line 450 of file GCS.h.

Referenced by active_channel_mask(), packetReceived(), send_collision_all(), and GCS::send_parameter_value().

◆ min_sample_counter

uint32_t GCS_MAVLINK::min_sample_counter

Definition at line 549 of file GCS.h.

◆ min_sample_us

int64_t GCS_MAVLINK::min_sample_us

Definition at line 550 of file GCS.h.

◆ mission_item_reached_index

uint16_t GCS_MAVLINK::mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE

Definition at line 161 of file GCS.h.

Referenced by try_send_mission_message().

◆ next_deferred_message

uint8_t GCS_MAVLINK::next_deferred_message

private

Definition at line 443 of file GCS.h.

Referenced by push_deferred_messages(), and send_message().

◆ num_deferred_messages

uint8_t GCS_MAVLINK::num_deferred_messages

private

Definition at line 444 of file GCS.h.

Referenced by push_deferred_messages(), and send_message().

◆ packet_drops

uint16_t GCS_MAVLINK::packet_drops

private

so that we can report to a GCS the number of parameters it should

Count the number of reportable parameters.

Not all parameters can be reported via MAVlink. We count the numberrequests the full set.

Returns: The number of reportable parameters.

Definition at line 418 of file GCS.h.

◆ param_replies

ObjectBuffer< GCS_MAVLINK::pending_param_reply > GCS_MAVLINK::param_replies

staticprivate

Definition at line 480 of file GCS.h.

Referenced by param_io_timer(), send_parameter_reply(), and send_queued_parameters().

◆ param_requests

ObjectBuffer< GCS_MAVLINK::pending_param_request > GCS_MAVLINK::param_requests

staticprivate

Definition at line 479 of file GCS.h.

Referenced by handle_param_request_read(), and param_io_timer().

◆ param_timer_registered

bool GCS_MAVLINK::param_timer_registered

staticprivate

Definition at line 483 of file GCS.h.

Referenced by send_queued_parameters().

◆ reserve_param_space_start_ms

uint32_t GCS_MAVLINK::reserve_param_space_start_ms

staticprivate

Definition at line 447 of file GCS.h.

Referenced by handle_param_request_read().

◆ routing

MAVLink_routing GCS_MAVLINK::routing

staticprivate

Definition at line 456 of file GCS.h.

Referenced by disable_channel_routing(), find_by_mavtype(), packetReceived(), and send_to_components().

◆ sent_ts1

int64_t GCS_MAVLINK::sent_ts1

Definition at line 332 of file GCS.h.

◆ serialmanager_p

const AP_SerialManager * GCS_MAVLINK::serialmanager_p

staticprivate

Definition at line 461 of file GCS.h.

Referenced by packetReceived(), and setup_uart().

◆ signing

mavlink_signing_t GCS_MAVLINK::signing

private

Definition at line 526 of file GCS.h.

◆ signing_streams

mavlink_signing_streams_t GCS_MAVLINK::signing_streams

staticprivate

Definition at line 527 of file GCS.h.

◆ stream_slowdown

uint8_t GCS_MAVLINK::stream_slowdown

private

Definition at line 432 of file GCS.h.

Referenced by handle_radio_status(), stream_trigger(), and update().

◆ stream_ticks

uint8_t GCS_MAVLINK::stream_ticks[NUM_STREAMS]

private

Definition at line 429 of file GCS.h.

Referenced by stream_trigger().

◆ streamRates

AP_Int16 GCS_MAVLINK::streamRates[NUM_STREAMS]

protected

Definition at line 279 of file GCS.h.

Referenced by handle_request_data_stream(), send_queued_parameters(), and stream_trigger().

◆ var_info

const AP_Param::GroupInfo GCS_MAVLINK::var_info

static

Initial value:

= {
    AP_GROUPEND
}

Definition at line 123 of file GCS.h.

Referenced by GCS_MAVLINK().

◆ vfr_hud_velned

Vector3f GCS_MAVLINK::vfr_hud_velned

protected

Definition at line 378 of file GCS.h.

Referenced by send_vfr_hud(), and vfr_hud_climbrate().

◆ waypoint_count

uint16_t GCS_MAVLINK::waypoint_count

private

Definition at line 423 of file GCS.h.

◆ waypoint_dest_compid

uint16_t GCS_MAVLINK::waypoint_dest_compid

private

Definition at line 422 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_write_partial_list(), and queued_waypoint_send().

◆ waypoint_dest_sysid

uint16_t GCS_MAVLINK::waypoint_dest_sysid

private

Definition at line 421 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_write_partial_list(), and queued_waypoint_send().

◆ waypoint_receive_timeout

const uint16_t GCS_MAVLINK::waypoint_receive_timeout = 8000

private

Definition at line 426 of file GCS.h.

Referenced by update().

◆ waypoint_receiving

bool GCS_MAVLINK::waypoint_receiving

protected

Definition at line 268 of file GCS.h.

Referenced by adjust_rate_for_stream_trigger(), data_stream_send(), handle_mission_count(), handle_mission_item(), handle_mission_request_list(), handle_mission_write_partial_list(), queued_waypoint_send(), and update().

◆ waypoint_request_i

uint16_t GCS_MAVLINK::waypoint_request_i

protected

Definition at line 270 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_item(), handle_mission_write_partial_list(), and queued_waypoint_send().

◆ waypoint_request_last

uint16_t GCS_MAVLINK::waypoint_request_last

protected

Definition at line 271 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_item(), handle_mission_write_partial_list(), and queued_waypoint_send().

◆ waypoint_timelast_receive

uint32_t GCS_MAVLINK::waypoint_timelast_receive

private

Definition at line 424 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_item(), handle_mission_write_partial_list(), and update().

◆ waypoint_timelast_request

uint32_t GCS_MAVLINK::waypoint_timelast_request

private

Definition at line 425 of file GCS.h.

Referenced by handle_mission_count(), handle_mission_item(), handle_mission_write_partial_list(), and update().

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

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
libraries/GCS_MAVLink/GCS.h
libraries/GCS_MAVLink/examples/routing/routing.cpp
libraries/GCS_MAVLink/GCS_Common.cpp
libraries/GCS_MAVLink/GCS_DeviceOp.cpp
libraries/GCS_MAVLink/GCS_MAVLink.cpp
libraries/GCS_MAVLink/GCS_Param.cpp
libraries/GCS_MAVLink/GCS_Rally.cpp
libraries/GCS_MAVLink/GCS_serial_control.cpp
libraries/GCS_MAVLink/GCS_ServoRelay.cpp
libraries/GCS_MAVLink/GCS_Signing.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ streams

Constructor & Destructor Documentation

◆ GCS_MAVLINK()

Member Function Documentation

◆ _handle_command_preflight_calibration()

◆ _handle_command_preflight_calibration_baro()

◆ _set_mode_common()

◆ accept_packet()

◆ active_channel_mask()

◆ adjust_rate_for_stream_trigger()

◆ base_mode()

◆ calibrate_gyros()

◆ correct_offboard_timestamp_usec_to_ms()

◆ custom_mode()

◆ data_stream_send()

◆ disable_channel_routing()

◆ find_by_mavtype()

◆ frame_type()

◆ FUNCTOR_TYPEDEF()

◆ get_advanced_failsafe()

◆ get_camera()

◆ get_chan()

◆ get_compass()

◆ get_fwver()

◆ get_last_heartbeat_time()

◆ get_mission()

◆ get_rally()

◆ get_uart()

◆ get_visual_odom()

◆ global_position_int_alt()

◆ global_position_int_relative_alt()

◆ handle_att_pos_mocap()

◆ handle_change_alt_request()

◆ handle_command_ack()

◆ handle_command_camera()

◆ handle_command_do_send_banner()

◆ handle_command_do_set_mode()

◆ handle_command_get_home_position()

◆ handle_command_long_message()

◆ handle_command_mag_cal()

◆ handle_command_preflight_calibration()

◆ handle_command_preflight_set_sensor_offsets()

◆ handle_command_request_autopilot_capabilities()

◆ handle_common_camera_message()

◆ handle_common_gps_message()

◆ handle_common_message()

◆ handle_common_mission_message()

◆ handle_common_param_message()

◆ handle_common_rally_message()

◆ handle_common_vision_position_estimate_data()

◆ handle_data_packet()

◆ handle_device_op_read()

◆ handle_device_op_write()

◆ handle_flight_termination()

◆ handle_gimbal_report()

◆ handle_global_vision_position_estimate()

◆ handle_guided_request()

◆ handle_mission_clear_all()

◆ handle_mission_count()

◆ handle_mission_item()

◆ handle_mission_request()

◆ handle_mission_request_list()

◆ handle_mission_set_current()

◆ handle_mission_write_partial_list()

◆ handle_param_request_list()