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GCS_MAVLink: split SYS_STATUS and POWER_STATUS onto separate ap_messages

This commit is contained in:
Peter Barker 2018-12-18 13:06:40 +11:00 committed by Peter Barker
parent 8e96eb969f
commit 039ade421e
2 changed files with 15 additions and 2 deletions
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5
libraries/GCS_MAVLink/GCS.h
View File

@ -41,7 +41,8 @@ enum ap_message : uint8_t {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
MSG_EXTENDED_STATUS1,
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_CURRENT_WAYPOINT,
@ -407,6 +408,8 @@ protected:
void send_hwstatus();
void handle_data_packet(mavlink_message_t *msg);
virtual bool vehicle_initialised() const { return true; }
// these two methods are called after current_loc is updated:
virtual int32_t global_position_int_alt() const;
virtual int32_t global_position_int_relative_alt() const;

12
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -194,6 +194,10 @@ void GCS_MAVLINK::send_meminfo(void)
// report power supply status
void GCS_MAVLINK::send_power_status(void)
{
if (!vehicle_initialised()) {
// avoid unnecessary errors being reported to user
return;
}
mavlink_msg_power_status_send(chan,
hal.analogin->board_voltage() * 1000,
hal.analogin->servorail_voltage() * 1000,
@ -860,7 +864,8 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_HEARTBEAT, MSG_HEARTBEAT},
{ MAVLINK_MSG_ID_ATTITUDE, MSG_ATTITUDE},
{ MAVLINK_MSG_ID_GLOBAL_POSITION_INT, MSG_LOCATION},
{ MAVLINK_MSG_ID_SYS_STATUS, MSG_EXTENDED_STATUS1},
{ MAVLINK_MSG_ID_SYS_STATUS, MSG_SYS_STATUS},
{ MAVLINK_MSG_ID_POWER_STATUS, MSG_POWER_STATUS},
{ MAVLINK_MSG_ID_MEMINFO, MSG_MEMINFO},
{ MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, MSG_NAV_CONTROLLER_OUTPUT},
{ MAVLINK_MSG_ID_MISSION_CURRENT, MSG_CURRENT_WAYPOINT},
@ -3761,6 +3766,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_position_target_global_int();
break;
case MSG_POWER_STATUS:
CHECK_PAYLOAD_SIZE(POWER_STATUS);
send_power_status();
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
send_radio_in();