mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
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#include "GCS_Tracker.h"
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#include "Tracker.h"
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bool GCS_Tracker::cli_enabled() const
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{
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return false;
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}
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AP_HAL::BetterStream* GCS_Tracker::cliSerial() {
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return nullptr;
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}
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static void mavlink_snoop_static(const mavlink_message_t* msg)
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{
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tracker.mavlink_snoop(msg);
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}
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void GCS_Tracker::setup_uarts(AP_SerialManager &serial_manager)
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{
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GCS::setup_uarts(serial_manager);
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for (uint8_t i = 1; i < num_gcs(); i++) {
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gcs().chan(i).set_snoop(mavlink_snoop_static);
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}
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}
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void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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if (gcs().chan(i).initialised) {
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// request position
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_POSITION,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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}
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void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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if (gcs().chan(i).initialised) {
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// request air pressure
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_RAW_SENSORS,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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}
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