ardupilot/ArduPlane/planner.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static int8_t	planner_gcs(uint8_t argc, 		const Menu::arg *argv);

// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Common for implementation details
static const struct Menu::command planner_menu_commands[] PROGMEM = {
	{"gcs",		planner_gcs},
};

// A Macro to create the Menu
MENU(planner_menu, "planner", planner_menu_commands);

static int8_t
planner_mode(uint8_t argc, const Menu::arg *argv)
{
	Serial.printf_P(PSTR("Planner Mode\n\nThis mode is not intended for manual use\n\n"));
	planner_menu.run();
    return 0;
}
static int8_t
planner_gcs(uint8_t argc, const Menu::arg *argv)
{
  gcs0.init(&Serial);

#if USB_MUX_PIN < 0
  // we don't have gcs3 if we have the USB mux setup
  gcs3.init(&Serial3);
#endif

  int16_t loopcount = 0;
  while (1) {
    if (millis()-fast_loopTimer_ms > 19) {
      fast_loopTimer_ms      = millis();
      
      gcs_update();
      
      read_radio();
      
      gcs_data_stream_send();
      if ((loopcount % 16) == 0) { // 3 hz
          gcs_send_message(MSG_HEARTBEAT);
      }
      loopcount++;
    }
  }
  return 0;
}