Track connection to manager and receive MANUAL_CONTROL

src/marshconnector.h

@@ -33,8 +33,25 @@ public:
   Error set_parameter(const String &id, float value);
   // Get current parameter value
   float get_parameter(const String &id);
+
   // Get current state of the aircraft
   Transform3D get_aircraft();
+  // Get normalized (-1 to 1) cyclic position, where X is right, Y is pitch up
+  Vector2 get_cyclic();
+  // Get normalized (0 to 1) collective position, positive to climb
+  float get_collective();
+  // Get normalized (-1 to 1) pedals position, positive turn right
+  float get_pedals();
+
+  // Is there a connection to MARSH Manager
+  bool get_manager_connected();
+  // Is receiving data from flight model
+  bool get_model_connected();
+
+  // Called by timer
+  void manager_timeout();
+  // // Called by timer
+  // void model_timeout();
 
   // Convert from global coordinates to local position x=north, y=east
   // taking into account current configuration.
@@ -55,6 +72,10 @@ private:
   void handle_local_position(mavlink_message_t message);
   void handle_attitude(mavlink_message_t message);
   void handle_param(mavlink_message_t message);
+  void handle_manual_control(mavlink_message_t message);
+  void handle_heartbeat(mavlink_message_t message);
+
+  Error send_message(mavlink_message_t message);
 
   // Do not specify specific values, to ensure PARAM_COUNT is correct
   // Not an enum class on purpose, to make use more convenient, it's scoped
@@ -78,10 +99,14 @@ private:
   // TODO: Interpolate with some delay
   Vector3 last_location;
   Quaternion last_rotation;
+  Vector4 last_controls;
 
   double time_passed;
   Timer *heartbeat_timer;
   PacketPeerUDP *socket;
+
+  bool manager_connected;
+  Timer *manager_timer;
 };
 
 } // namespace godot