mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
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@ -197,11 +197,8 @@ void GCS_MAVLINK::reset_cli_timeout() {
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void GCS_MAVLINK::send_meminfo(void)
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void GCS_MAVLINK::send_meminfo(void)
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{
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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extern unsigned __brkval;
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#else
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unsigned __brkval = 0;
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unsigned __brkval = 0;
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#endif
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mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
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mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
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}
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}
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@ -298,7 +295,7 @@ void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t
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ret_packet.autocontinue = 1; // 1 (true), 0 (false)
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ret_packet.autocontinue = 1; // 1 (true), 0 (false)
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/*
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/*
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avoid the _send() function to save memory on APM2, as it avoids
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avoid the _send() function to save memory, as it avoids
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the stack usage of the _send() function by using the already
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the stack usage of the _send() function by using the already
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declared ret_packet above
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declared ret_packet above
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*/
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*/
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@ -440,9 +437,8 @@ bool GCS_MAVLINK::have_flow_control(void)
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/*
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/*
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handle a request to change stream rate. Note that copter passes in
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handle a request to change stream rate. Note that copter passes in
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save==false, as sending mavlink messages on copter on APM2 costs
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save==false so we don't want the save to happen when the user connects the
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enough that it can cause flight issues, so we don't want the save to
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ground station.
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happen when the user connects the ground station.
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*/
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*/
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void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
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void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
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{
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{
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@ -510,13 +506,11 @@ void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
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mavlink_param_request_list_t packet;
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mavlink_param_request_list_t packet;
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mavlink_msg_param_request_list_decode(msg, &packet);
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mavlink_msg_param_request_list_decode(msg, &packet);
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#if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
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// send system ID if we can
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// send system ID if we can
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char sysid[40];
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char sysid[40];
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if (hal.util->get_system_id(sysid)) {
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if (hal.util->get_system_id(sysid)) {
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send_text(MAV_SEVERITY_WARNING, sysid);
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send_text(MAV_SEVERITY_WARNING, sysid);
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}
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}
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#endif
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// Start sending parameters - next call to ::update will kick the first one out
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// Start sending parameters - next call to ::update will kick the first one out
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_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
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_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
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@ -20,15 +20,8 @@
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// into progmem
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// into progmem
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#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
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#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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// allow four telemetry ports
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#include <util/crc16.h>
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#define HAVE_CRC_ACCUMULATE
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// only two telemetry ports on APM1/APM2
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#define MAVLINK_COMM_NUM_BUFFERS 2
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#else
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// allow four telemetry ports on other boards
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#define MAVLINK_COMM_NUM_BUFFERS 4
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#define MAVLINK_COMM_NUM_BUFFERS 4
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#endif
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/*
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/*
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The MAVLink protocol code generator does its own alignment, so
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The MAVLink protocol code generator does its own alignment, so
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@ -39,14 +32,7 @@
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#include "include/mavlink/v1.0/ardupilotmega/version.h"
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#include "include/mavlink/v1.0/ardupilotmega/version.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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// this allows us to make mavlink_message_t much smaller. It means we
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// can't support the largest messages in common.xml, but we don't need
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// those for APM1/APM2
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#define MAVLINK_MAX_PAYLOAD_LEN 104
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#else
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#define MAVLINK_MAX_PAYLOAD_LEN 255
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#define MAVLINK_MAX_PAYLOAD_LEN 255
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#endif
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#include "include/mavlink/v1.0/mavlink_types.h"
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#include "include/mavlink/v1.0/mavlink_types.h"
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@ -92,15 +78,6 @@ uint16_t comm_get_available(mavlink_channel_t chan);
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/// @returns Number of bytes available
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/// @returns Number of bytes available
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uint16_t comm_get_txspace(mavlink_channel_t chan);
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uint16_t comm_get_txspace(mavlink_channel_t chan);
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#ifdef HAVE_CRC_ACCUMULATE
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// use the AVR C library implementation. This is a bit over twice as
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// fast as the C version
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static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
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{
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*crcAccum = _crc_ccitt_update(*crcAccum, data);
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}
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#endif
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/*
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/*
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return true if the MAVLink parser is idle, so there is no partly parsed
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return true if the MAVLink parser is idle, so there is no partly parsed
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MAVLink message being processed
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MAVLink message being processed
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