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GCS_MAVLink: have_flow_control uses mavlink_comm

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This commit is contained in:
Randy Mackay 2015-01-26 10:36:54 +09:00 committed by Andrew Tridgell
parent 1157c13eb6
commit 1275ff7d40
1 changed files with 22 additions and 5 deletions
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27
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -46,8 +46,8 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
mavlink_comm_1_port = _port;
initialised = true;
break;
#if MAVLINK_COMM_NUM_BUFFERS > 2
case MAVLINK_COMM_2:
#if MAVLINK_COMM_NUM_BUFFERS > 2
mavlink_comm_2_port = _port;
initialised = true;
break;
@ -403,14 +403,31 @@ bool GCS_MAVLINK::have_flow_control(void)
{
switch (chan) {
case MAVLINK_COMM_0:
// assume USB has flow control
return hal.gpio->usb_connected() || hal.uartA->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
if (mavlink_comm_0_port == NULL) {
return false;
} else {
// assume USB has flow control
return hal.gpio->usb_connected() || mavlink_comm_0_port->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
}
break;
case MAVLINK_COMM_1:
return hal.uartC->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
if (mavlink_comm_1_port == NULL) {
return false;
} else {
return mavlink_comm_1_port->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
}
break;
case MAVLINK_COMM_2:
return hal.uartD != NULL && hal.uartD->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
#if MAVLINK_COMM_NUM_BUFFERS > 2
if (mavlink_comm_2_port == NULL) {
return false;
} else {
return mavlink_comm_2_port != NULL && mavlink_comm_2_port->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
}
break;
#endif
default:
break;