2017-07-08 21:24:43 -03:00
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#include "GCS.h"
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extern const AP_HAL::HAL& hal;
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/*
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send a text message to all GCS
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*/
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void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
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{
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char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
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va_list arg_list;
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va_start(arg_list, fmt);
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hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
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va_end(arg_list);
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text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
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send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
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}
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2017-07-08 03:26:34 -03:00
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#define FOR_EACH_ACTIVE_CHANNEL(methodcall) \
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do { \
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for (uint8_t i=0; i<num_gcs(); i++) { \
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if (!chan(i).initialised) { \
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continue; \
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} \
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if (!(GCS_MAVLINK::active_channel_mask() & (chan(i).get_chan()-MAVLINK_COMM_0))) { \
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continue; \
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} \
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chan(i).methodcall; \
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} \
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} while (0);
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void GCS::send_home(const Location &home) const
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{
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FOR_EACH_ACTIVE_CHANNEL(send_home(home));
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}
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#undef FOR_EACH_ACTIVE_CHANNEL
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