Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: move serial_control case to base class

Browse Source
This commit is contained in:
Peter Barker 2017-08-17 20:04:42 +10:00 committed by Francisco Ferreira
parent c7c9cb9b0f
commit 154b212545
3 changed files with 16 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS.h
View File

@ -267,7 +267,7 @@ protected:
void handle_common_camera_message(const mavlink_message_t *msg);
void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
void handle_serial_control(mavlink_message_t *msg, AP_GPS &gps);
void handle_serial_control(const mavlink_message_t *msg);
void handle_common_message(mavlink_message_t *msg);
void handle_setup_signing(const mavlink_message_t *msg);

4
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1832,6 +1832,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
handle_common_mission_message(msg);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg);
break;
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
/* fall through */
case MAVLINK_MSG_ID_GPS_INPUT:

14
libraries/GCS_MAVLink/GCS_serial_control.cpp
View File

@ -27,7 +27,7 @@ extern const AP_HAL::HAL& hal;
/**
handle a SERIAL_CONTROL message
*/
void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
void GCS_MAVLINK::handle_serial_control(const mavlink_message_t *msg)
{
mavlink_serial_control_t packet;
mavlink_msg_serial_control_decode(msg, &packet);
@ -40,6 +40,8 @@ void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
return;
}
AP_GPS *gps = get_gps();
bool exclusive = (packet.flags & SERIAL_CONTROL_FLAG_EXCLUSIVE) != 0;
switch (packet.device) {
@ -53,11 +55,17 @@ void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
break;
case SERIAL_CONTROL_DEV_GPS1:
stream = port = hal.uartB;
gps.lock_port(0, exclusive);
if (gps == nullptr) {
return;
}
gps->lock_port(0, exclusive);
break;
case SERIAL_CONTROL_DEV_GPS2:
stream = port = hal.uartE;
gps.lock_port(1, exclusive);
if (gps == nullptr) {
return;
}
gps->lock_port(1, exclusive);
break;
case SERIAL_CONTROL_DEV_SHELL:
stream = hal.util->get_shell_stream();