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Diffstat (limited to 'src/modules/mavlink/mavlink_commands.h')
-rw-r--r-- | src/modules/mavlink/mavlink_commands.h | 65 |
1 files changed, 65 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_commands.h b/src/modules/mavlink/mavlink_commands.h new file mode 100644 index 000000000..6255d65df --- /dev/null +++ b/src/modules/mavlink/mavlink_commands.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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_commands.h + * Mavlink commands stream definition. + * + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#ifndef MAVLINK_COMMANDS_H_ +#define MAVLINK_COMMANDS_H_ + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_command.h> + +class Mavlink; +class MavlinkCommansStream; + +#include "mavlink_main.h" + +class MavlinkCommandsStream +{ +private: + MavlinkOrbSubscription *_cmd_sub; + struct vehicle_command_s *_cmd; + mavlink_channel_t _channel; + +public: + MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel); + ~MavlinkCommandsStream(); + void update(const hrt_abstime t); +}; + +#endif /* MAVLINK_COMMANDS_H_ */ |