HERBERT Nicolas / Mbed 2 deprecated Labo_TRSE_Drone

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Dependencies:   mbed PID ADXL345 Camera_LS_Y201 ITG3200 RangeFinder mbos xbee_lib Motor Servo

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Show/hide line numbers MAVLink_API.h Source File

MAVLink_API.h

00001 #ifndef MAVLINK_API_H
00002 #define MAVLINK_API_H
00003 
00004 #include "mbed.h"
00005 #include "MAVlink/include/common/common.h"
00006 
00007 #define DEBUG 1
00008 
00009 class mavLink_API
00010 {
00011 private:
00012     Ticker heartBeatTicker;
00013     mavlink_system_t mavlink_system;
00014     mavlink_status_t mavlink_status;
00015 
00016     mavlink_message_t send_msg;
00017     mavlink_message_t received_msg;
00018     
00019 public:    
00020 
00021     bool messageReadyToBeSent;
00022     uint8_t *buf;
00023     uint16_t len;
00024     
00025     mavLink_API(float heartbeat_freq);
00026     ~mavLink_API();
00027     
00028     int getMessage(char received_char);
00029     int handleMessage();
00030     int createMessage(int messageID, void* data);
00031     void sendHeartBeat();
00032 #if DEBUG
00033     void printMavLinkMessage(mavlink_message_t message);
00034 #endif
00035     
00036 };
00037 
00038 #endif
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