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GCS_MAVLink: support mavlink2 build

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This commit is contained in:
Andrew Tridgell 2016-01-12 09:22:05 +11:00
parent 0ef5d8995b
commit 0ead0ab978
4 changed files with 18 additions and 17 deletions
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2
libraries/GCS_MAVLink/GCS_Logs.cpp
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@ -239,7 +239,7 @@ bool GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
packet.ofs = _log_data_offset;
packet.id = _log_num_data;
packet.count = ret;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet,
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA_TUPLE, (const char *)&packet,
MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
_log_data_offset += len;

12
libraries/GCS_MAVLink/GCS_MAVLink.cpp
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@ -29,8 +29,12 @@ This provides some support code and variables for MAVLink enabled sketches
#ifdef MAVLINK_SEPARATE_HELPERS
#if MAVLINK_PROTOCOL_VERSION == 2
#include "include/mavlink/v2.0/mavlink_helpers.h"
#else
#include "include/mavlink/v1.0/mavlink_helpers.h"
#endif
#endif
AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
@ -144,14 +148,6 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
mavlink_comm_port[chan]->write(buf, len);
}
static const uint8_t mavlink_message_crc_table[256] = MAVLINK_MESSAGE_CRCS;
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid)
{
return mavlink_message_crc_table[msgid];
}
extern const AP_HAL::HAL& hal;
/*

19
libraries/GCS_MAVLink/GCS_MAVLink.h
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@ -14,10 +14,6 @@
#define MAVLINK_SEND_UART_BYTES(chan, buf, len) comm_send_buffer(chan, buf, len)
// define our own MAVLINK_MESSAGE_CRC() macro to allow it to be put
// into progmem
#define MAVLINK_MESSAGE_CRC(msgid) mavlink_get_message_crc(msgid)
// allow five telemetry ports
#define MAVLINK_COMM_NUM_BUFFERS 5
@ -28,11 +24,19 @@
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
#if MAVLINK_PROTOCOL_VERSION == 2
#include "include/mavlink/v2.0/ardupilotmega/version.h"
#else
#include "include/mavlink/v1.0/ardupilotmega/version.h"
#endif
#define MAVLINK_MAX_PAYLOAD_LEN 255
#if MAVLINK_PROTOCOL_VERSION == 2
#include "include/mavlink/v2.0/mavlink_types.h"
#else
#include "include/mavlink/v1.0/mavlink_types.h"
#endif
/// MAVLink stream used for uartA
extern AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
@ -93,12 +97,13 @@ uint16_t comm_get_txspace(mavlink_channel_t chan);
bool comm_is_idle(mavlink_channel_t chan);
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#if MAVLINK_PROTOCOL_VERSION == 2
#include "include/mavlink/v2.0/ardupilotmega/mavlink.h"
#else
#include "include/mavlink/v1.0/ardupilotmega/mavlink.h"
#endif
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t);
// return CRC byte for a mavlink message ID
uint8_t mavlink_get_message_crc(uint8_t msgid);
#pragma GCC diagnostic pop

2
libraries/GCS_MAVLink/GCS_serial_control.cpp
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@ -152,7 +152,7 @@ more_data:
// and send the reply
_mav_finalize_message_chan_send(chan,
MAVLINK_MSG_ID_SERIAL_CONTROL,
MAVLINK_MSG_ID_SERIAL_CONTROL_TUPLE,
(const char *)&packet,
MAVLINK_MSG_ID_SERIAL_CONTROL_LEN,
MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);