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/**
* @file mavlink_orb_listener.h
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#pragma once
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
class Mavlink;
class MavlinkReceiver
{
public:
/**
* Constructor
*/
MavlinkReceiver(Mavlink *parent);
/**
* Destructor, also kills the mavlinks task.
*/
~MavlinkReceiver();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
int start();
/**
* Display the mavlink status.
*/
void print_status();
static pthread_t receive_start(Mavlink *parent);
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
void *receive_thread(void *arg);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
orb_advert_t _attitude_pub;
orb_advert_t _gps_pub;
orb_advert_t _sensors_pub;
orb_advert_t _gyro_pub;
orb_advert_t _accel_pub;
orb_advert_t _mag_pub;
orb_advert_t _baro_pub;
orb_advert_t _airspeed_pub;
orb_advert_t _battery_pub;
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;
float _hil_local_alt0;
struct map_projection_reference_s _hil_local_proj_ref;
};
