Benjamin Hepp / mavlink_bridge

Mavlink bridge for Mbed devices

Dependents:   AIT_UWB_Range

mavlink_bridge.h@0:28183cc7963f, 2015-11-24 (annotated)

Committer:
bhepp
Date:
Tue Nov 24 16:41:11 2015 +0000
Revision:
0:28183cc7963f
Mavlink bridge for Mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bhepp 0:28183cc7963f 1 #pragma once
bhepp 0:28183cc7963f 2
bhepp 0:28183cc7963f 3 #include "uart_interface.h"
bhepp 0:28183cc7963f 4
bhepp 0:28183cc7963f 5 #include "mavlink_bridge/mavlink/v10/uwb/mavlink.h"
bhepp 0:28183cc7963f 6
bhepp 0:28183cc7963f 7 namespace ait {
bhepp 0:28183cc7963f 8
bhepp 0:28183cc7963f 9 class MAVLinkBridge {
bhepp 0:28183cc7963f 10 UART_Interface* _uart;
bhepp 0:28183cc7963f 11 mavlink_system_t _mavlink_system;
bhepp 0:28183cc7963f 12 // TODO: Is this int?
bhepp 0:28183cc7963f 13 mavlink_channel_t _mavlink_channel;
bhepp 0:28183cc7963f 14 mavlink_message_t _recv_msg;
bhepp 0:28183cc7963f 15 mavlink_status_t _recv_status;
bhepp 0:28183cc7963f 16 int _packet_drops;
bhepp 0:28183cc7963f 17
bhepp 0:28183cc7963f 18 public:
bhepp 0:28183cc7963f 19 MAVLinkBridge(UART_Interface* uart, mavlink_channel_t mavlink_channel = MAVLINK_COMM_0, uint8_t sysid = 1, uint8_t compid = MAV_COMP_ID_UART_BRIDGE);
bhepp 0:28183cc7963f 20
bhepp 0:28183cc7963f 21 void setSysId(uint8_t sysid) {
bhepp 0:28183cc7963f 22 _mavlink_system.sysid = sysid;
bhepp 0:28183cc7963f 23 }
bhepp 0:28183cc7963f 24
bhepp 0:28183cc7963f 25 uint8_t getSysId() const {
bhepp 0:28183cc7963f 26 return _mavlink_system.sysid;
bhepp 0:28183cc7963f 27 }
bhepp 0:28183cc7963f 28
bhepp 0:28183cc7963f 29 void setCompId(uint8_t compid) {
bhepp 0:28183cc7963f 30 _mavlink_system.compid = compid;
bhepp 0:28183cc7963f 31 }
bhepp 0:28183cc7963f 32
bhepp 0:28183cc7963f 33 uint8_t getCompId() const {
bhepp 0:28183cc7963f 34 return _mavlink_system.compid;
bhepp 0:28183cc7963f 35 }
bhepp 0:28183cc7963f 36
bhepp 0:28183cc7963f 37 void sendMessage(const mavlink_message_t& msg);
bhepp 0:28183cc7963f 38
bhepp 0:28183cc7963f 39 bool tryReceiveMessage();
bhepp 0:28183cc7963f 40
bhepp 0:28183cc7963f 41 const mavlink_message_t& getLastReceivedMessage();
bhepp 0:28183cc7963f 42
bhepp 0:28183cc7963f 43 protected:
bhepp 0:28183cc7963f 44 void sendBuffer(const uint8_t* buf, uint16_t len);
bhepp 0:28183cc7963f 45 };
bhepp 0:28183cc7963f 46
bhepp 0:28183cc7963f 47 }