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Plane: fixed a bug with setting stream rates 

this is what caused the "no sensors" problem in the 2.69 release
This commit is contained in:
Andrew Tridgell 2013-02-20 09:30:46 +11:00
parent 963231a19b
commit 1007f2ef07
1 changed files with 27 additions and 8 deletions
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35
ArduPlane/GCS_Mavlink.pde
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@ -999,18 +999,37 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
else
break;
if (packet.req_stream_id >= STREAM_PARAMS) {
// invalid
break;
}
if (packet.req_stream_id == MAV_DATA_STREAM_ALL) {
switch (packet.req_stream_id) {
case MAV_DATA_STREAM_ALL:
// note that we don't set STREAM_PARAMS - that is internal only
for (uint8_t i=0; i<STREAM_PARAMS; i++) {
streamRates[i].set_and_save_ifchanged(freq);
}
} else {
streamRates[packet.req_stream_id].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RAW_SENSORS:
streamRates[STREAM_RAW_SENSORS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
streamRates[STREAM_EXTENDED_STATUS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RC_CHANNELS:
streamRates[STREAM_RC_CHANNELS].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
streamRates[STREAM_RAW_CONTROLLER].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_POSITION:
streamRates[STREAM_POSITION].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA1:
streamRates[STREAM_EXTRA1].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA2:
streamRates[STREAM_EXTRA2].set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA3:
streamRates[STREAM_EXTRA3].set_and_save_ifchanged(freq);
break;
}
break;
}