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mavlink_control.h
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mavlink_control.h
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/****************************************************************************
*
* Copyright (c) 2014 MAVlink Development Team. All rights reserved.
* Author: Trent Lukaczyk, <[email protected]>
* Jaycee Lock, <[email protected]>
* Lorenz Meier, <[email protected]>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_control.h
*
* @brief An example offboard control process via mavlink, definition
*
* This process connects an external MAVLink UART device to send an receive data
*
* @author Trent Lukaczyk, <[email protected]>
* @author Jaycee Lock, <[email protected]>
* @author Lorenz Meier, <[email protected]>
*
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include <iostream>
#include <stdio.h>
#include <cstdlib>
#include <unistd.h>
#include <cmath>
#include <string.h>
#include <inttypes.h>
#include <fstream>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
using std::string;
using namespace std;
#include <common/mavlink.h>
#include "autopilot_interface.h"
#include "serial_port.h"
#include "udp_port.h"
// ------------------------------------------------------------------------------
// Prototypes
// ------------------------------------------------------------------------------
int main(int argc, char **argv);
int top(int argc, char **argv);
void commands(Autopilot_Interface &autopilot_interface, bool autotakeoff);
void parse_commandline(int argc, char **argv, char *&uart_name, int &baudrate,
bool &use_udp, char *&udp_ip, int &udp_port, bool &autotakeoff);
// quit handler
Autopilot_Interface *autopilot_interface_quit;
Generic_Port *port_quit;
void quit_handler( int sig );