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Rover: let AP_Vehicle base class worry about scheduler delay callback

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This commit is contained in:
Peter Barker 2020-01-16 14:03:29 +11:00 committed by Andrew Tridgell
parent 9ef23872e0
commit 09669bdc66
3 changed files with 1 additions and 42 deletions
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33
APMrover2/GCS_Mavlink.cpp
View File

@ -1054,36 +1054,3 @@ uint64_t GCS_MAVLINK_Rover::capabilities() const
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
GCS_MAVLINK::capabilities());
}
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Rover::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
// don't allow potentially expensive logging calls:
logger.EnableWrites(false);
const uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs().update_receive();
gcs().update_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
logger.EnableWrites(true);
}

1
APMrover2/Rover.h
View File

@ -429,7 +429,6 @@ private:
public:
void mavlink_delay_cb();
void failsafe_check();
// Motor test
void motor_test_output();

9
APMrover2/system.cpp
View File

@ -8,11 +8,6 @@ The init_ardupilot function processes everything we need for an in - air restart
#include "Rover.h"
#include <AP_Common/AP_FWVersion.h>
static void mavlink_delay_cb_static()
{
rover.mavlink_delay_cb();
}
static void failsafe_check_static()
{
rover.failsafe_check();
@ -46,9 +41,7 @@ void Rover::init_ardupilot()
// setup first port early to allow BoardConfig to report errors
gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
register_scheduler_delay_callback();
BoardConfig.init();
#if HAL_WITH_UAVCAN