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GCS_MAVLink: factor out a send_banner

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This commit is contained in:
Peter Barker 2017-08-19 21:23:19 +10:00 committed by Francisco Ferreira
parent b5d234aa64
commit 1544a92f8b
3 changed files with 25 additions and 13 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -263,6 +263,7 @@ protected:
void handle_param_set(mavlink_message_t *msg); void handle_param_set(mavlink_message_t *msg);
void handle_param_request_list(mavlink_message_t *msg); void handle_param_request_list(mavlink_message_t *msg);
void handle_param_request_read(mavlink_message_t *msg); void handle_param_request_read(mavlink_message_t *msg);
virtual bool params_ready() const { return true; }
void handle_common_gps_message(mavlink_message_t *msg); void handle_common_gps_message(mavlink_message_t *msg);
void handle_common_rally_message(mavlink_message_t *msg); void handle_common_rally_message(mavlink_message_t *msg);
@ -282,6 +283,8 @@ protected:
void handle_send_autopilot_version(const mavlink_message_t *msg); void handle_send_autopilot_version(const mavlink_message_t *msg);
MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet); MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
virtual void send_banner();
void handle_device_op_read(mavlink_message_t *msg); void handle_device_op_read(mavlink_message_t *msg);
void handle_device_op_write(mavlink_message_t *msg); void handle_device_op_write(mavlink_message_t *msg);

16
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1959,6 +1959,22 @@ void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t *msg)
send_autopilot_version(fwver.major, fwver.minor, fwver.patch, fwver.fw_type); send_autopilot_version(fwver.major, fwver.minor, fwver.patch, fwver.fw_type);
} }
void GCS_MAVLINK::send_banner()
{
// mark the firmware version in the tlog
const AP_FWVersion &fwver = get_fwver();
send_text(MAV_SEVERITY_INFO, fwver.fw_string);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
// send system ID if we can
char sysid[40];
if (hal.util->get_system_id(sysid)) {
send_text(MAV_SEVERITY_INFO, sysid);
}
}
MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)

19
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -188,22 +188,15 @@ void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg) void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
{ {
if (!params_ready()) {
return;
}
mavlink_param_request_list_t packet; mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet); mavlink_msg_param_request_list_decode(msg, &packet);
// mark the firmware version in the tlog // requesting parameters is a convenient way to get extra information
const AP_FWVersion &fwver = get_fwver(); send_banner();
send_text(MAV_SEVERITY_INFO, fwver.fw_string);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
// send system ID if we can
char sysid[40];
if (hal.util->get_system_id(sysid)) {
send_text(MAV_SEVERITY_INFO, sysid);
}
// Start sending parameters - next call to ::update will kick the first one out // Start sending parameters - next call to ::update will kick the first one out
_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type); _queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);