#ifndef MAVLINKRECIVER_H
#define MAVLINKRECIVER_H

#include <Arduino.h>

#include <modules/mavlink/v2.0/ardupilotmega/mavlink.h>

class MavlinkReciver
{
public:
    MavlinkReciver();
    ~MavlinkReciver();
    void Init(uint32_t baud);
    static void TaskMavlinkRx(void *pvParameters);
private:
    void reboot();
    uint32_t mBaudRate;
    HardwareSerial *mSerial;
    uint8_t mBufferIn[2*MAVLINK_MAX_PACKET_LEN];
    uint8_t mBufferOut[MAVLINK_MAX_PACKET_LEN];
    uint8_t mSysId=0;
    uint8_t mAutopilotMode=0;
    uint8_t mBaseMode=0;
    uint8_t mStatus=0;
    bool mLockMode=false;

};



#endif