ardupilot/ArduCopter/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
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\nNot 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);

    int16_t loopcount = 0;

    while (1) {
        if (millis()-fast_loopTimer > 19) {
            fast_loopTimer                  = millis();

            gcs_update();

            read_radio();

            gcs_data_stream_send();

            if ((loopcount % 16) == 0) { // 3 hz
                gcs_send_message(MSG_HEARTBEAT);
            }

            loopcount++;
        }
    }
    return 0;
}