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Tracker: let AP_Vehicle base class worry about scheduler delay callback

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This commit is contained in:
Peter Barker 2020-01-16 14:03:43 +11:00 committed by Andrew Tridgell
parent 09669bdc66
commit 0c355bef90
3 changed files with 1 additions and 35 deletions
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25
AntennaTracker/GCS_Mavlink.cpp
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@ -623,31 +623,6 @@ mission_failed:
* MAVLink to process packets while waiting for the initialisation to * MAVLink to process packets while waiting for the initialisation to
* complete * complete
*/ */
void Tracker::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
logger.EnableWrites(false);
uint32_t tnow = AP_HAL::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);
}
// send position tracker is using // send position tracker is using
void GCS_MAVLINK_Tracker::send_global_position_int() void GCS_MAVLINK_Tracker::send_global_position_int()
{ {

2
AntennaTracker/Tracker.h
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@ -245,8 +245,6 @@ private:
FUNCTOR_BIND_MEMBER(&Tracker::start_command_callback, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Tracker::start_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Tracker::verify_command_callback, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Tracker::verify_command_callback, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Tracker::exit_mission_callback, void)}; FUNCTOR_BIND_MEMBER(&Tracker::exit_mission_callback, void)};
public:
void mavlink_delay_cb();
}; };
extern Tracker tracker; extern Tracker tracker;

9
AntennaTracker/system.cpp
View File

@ -3,11 +3,6 @@
// mission storage // mission storage
static const StorageAccess wp_storage(StorageManager::StorageMission); static const StorageAccess wp_storage(StorageManager::StorageMission);
static void mavlink_delay_cb_static()
{
tracker.mavlink_delay_cb();
}
void Tracker::init_tracker() void Tracker::init_tracker()
{ {
// initialise console serial port // initialise console serial port
@ -31,9 +26,7 @@ void Tracker::init_tracker()
// setup first port early to allow BoardConfig to report errors // setup first port early to allow BoardConfig to report errors
gcs().setup_console(); gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have register_scheduler_delay_callback();
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init(); BoardConfig.init();
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN