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Plane: added CLI_ENABLED option

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this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
This commit is contained in:
Andrew Tridgell 2015-03-09 14:14:59 +11:00
parent d9950ea07f
commit 16cdf64d63
4 changed files with 23 additions and 8 deletions
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2
ArduPlane/GCS_Mavlink.pde
View File

@ -1674,7 +1674,7 @@ static void gcs_update(void)
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs[i].update(run_cli);
gcs[i].update(g.cli_enabled==1?run_cli:NULL);
#else
gcs[i].update(NULL);
#endif

4
ArduPlane/Parameters.h
View File

@ -131,6 +131,7 @@ public:
k_param_override_channel,
k_param_stall_prevention,
k_param_optflow,
k_param_cli_enabled,
// 100: Arming parameters
k_param_arming = 100,
@ -320,6 +321,9 @@ public:
AP_Int16 sysid_this_mav;
AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay;
#if CLI_ENABLED == ENABLED
AP_Int8 cli_enabled;
#endif
#if HIL_MODE != HIL_MODE_DISABLED
AP_Float hil_err_limit;

9
ArduPlane/Parameters.pde
View File

@ -38,6 +38,15 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),
#if CLI_ENABLED == ENABLED
// @Param: CLI_ENABLED
// @DisplayName: CLI Enable
// @Description: This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
GSCALAR(cli_enabled, "CLI_ENABLED", 0),
#endif
// @Group: SERIAL
// @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
GOBJECT(serial_manager, "SERIAL", AP_SerialManager),

16
ArduPlane/system.pde
View File

@ -201,13 +201,15 @@ static void init_ardupilot()
hal.scheduler->register_timer_failsafe(failsafe_check, 1000);
#if CLI_ENABLED == ENABLED
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println_P(msg);
if (g.cli_enabled == 1) {
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println_P(msg);
}
}
#endif // CLI_ENABLED