ardupilot/AntennaTracker/GCS_Tracker.cpp

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#include "GCS_Tracker.h"
#include "Tracker.h"
void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
{
for (uint8_t i=0; i < num_gcs(); i++) {
if (gcs().chan(i).initialised) {
// request position
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
sysid,
compid,
MAV_DATA_STREAM_POSITION,
tracker.g.mavlink_update_rate,
1); // start streaming
}
}
}
}
void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
{
for (uint8_t i=0; i < num_gcs(); i++) {
if (gcs().chan(i).initialised) {
// request air pressure
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
sysid,
compid,
MAV_DATA_STREAM_RAW_SENSORS,
tracker.g.mavlink_update_rate,
1); // start streaming
}
}
}
}