Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tracker: GCS_Mavlink format fix-up of indentation

This commit is contained in:
Randy Mackay 2014-09-29 21:06:33 +09:00
parent 3e62b188a1
commit 111ec147f0
1 changed files with 31 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

62
AntennaTracker/GCS_Mavlink.pde
View File

@ -434,42 +434,42 @@ GCS_MAVLINK::data_stream_send(void)
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{ {
// in proxy mode all messages from the vehicle are proxied to GCS
if (g.proxy_mode == true && chan == proxy_vehicle.chan) { if (g.proxy_mode == true && chan == proxy_vehicle.chan) {
// From the remote vehicle.
// All messages from the remote are proxied to GCS
// We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs
switch (msg->msgid) // We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs
switch (msg->msgid) {
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{ {
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: // decode
{ mavlink_global_position_int_t packet;
// decode mavlink_msg_global_position_int_decode(msg, &packet);
mavlink_global_position_int_t packet; tracking_update_position(packet);
mavlink_msg_global_position_int_decode(msg, &packet); break;
tracking_update_position(packet); }
break;
} case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
case MAVLINK_MSG_ID_SCALED_PRESSURE: // decode
{ mavlink_scaled_pressure_t packet;
// decode mavlink_msg_scaled_pressure_decode(msg, &packet);
mavlink_scaled_pressure_t packet; tracking_update_pressure(packet);
mavlink_msg_scaled_pressure_decode(msg, &packet); break;
tracking_update_pressure(packet); }
break; }
// Proxy to all the GCS stations
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
mavlink_channel_t out_chan = (mavlink_channel_t)i;
// only forward if it would fit in the transmit buffer
if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
_mavlink_resend_uart(out_chan, msg);
} }
} }
// Proxy to all the GCS stations }
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) { // no further processing of this messages
mavlink_channel_t out_chan = (mavlink_channel_t)i;
// only forward if it would fit in the transmit buffer
if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
_mavlink_resend_uart(out_chan, msg);
}
}
}
// no further processing of messages from vehicle
return; return;
} }