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

Plane: FrSky support has moved to GCS

This commit is contained in:
Peter Barker 2019-03-01 17:27:53 +11:00 committed by Peter Barker
parent 0194cd69a1
commit 1a55f0ffab
8 changed files with 7 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/GCS_Mavlink.cpp
View File

@ -2,7 +2,7 @@
#include "Plane.h"
MAV_TYPE GCS_MAVLINK_Plane::frame_type() const
MAV_TYPE GCS_Plane::frame_type() const
{
return plane.quadplane.get_mav_type();
}
@ -87,7 +87,7 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const
return (MAV_MODE)_base_mode;
}
uint32_t GCS_MAVLINK_Plane::custom_mode() const
uint32_t GCS_Plane::custom_mode() const
{
return plane.control_mode;
}

2
ArduPlane/GCS_Mavlink.h
View File

@ -55,9 +55,7 @@ private:
bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
MAV_TYPE frame_type() const override;
MAV_MODE base_mode() const override;
uint32_t custom_mode() const override;
MAV_STATE system_status() const override;
uint8_t radio_in_rssi() const;

5
ArduPlane/GCS_Plane.cpp
View File

@ -218,9 +218,4 @@ void GCS_Plane::update_sensor_status_flags(void)
if (!plane.battery.healthy() || plane.battery.has_failsafed()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
plane.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
#endif
}

2
ArduPlane/GCS_Plane.h
View File

@ -23,6 +23,8 @@ public:
protected:
void update_sensor_status_flags(void) override;
uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override;
private:

4
ArduPlane/Plane.h
View File

@ -405,10 +405,6 @@ private:
FUNCTOR_BIND_MEMBER(&Plane::handle_battery_failsafe, void, const char*, const int8_t),
_failsafe_priorities};
#if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support
AP_Frsky_Telem frsky_telemetry;
#endif
#if DEVO_TELEM_ENABLED == ENABLED
// DEVO-M telemetry support
AP_DEVO_Telem devo_telemetry;

3
ArduPlane/is_flying.cpp
View File

@ -155,9 +155,6 @@ void Plane::update_is_flying_5Hz(void)
}
previous_is_flying = new_is_flying;
adsb.set_is_flying(new_is_flying);
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.set_is_flying(new_is_flying);
#endif
#if STATS_ENABLED == ENABLED
g2.stats.set_flying(new_is_flying);
#endif

5
ArduPlane/quadplane.h
View File

@ -138,7 +138,9 @@ public:
int16_t climb_rate;
float throttle_mix;
};
MAV_TYPE get_mav_type(void) const;
private:
AP_AHRS_NavEKF &ahrs;
AP_Vehicle::MultiCopter aparm;
@ -296,7 +298,6 @@ private:
// HEARTBEAT mav_type override
AP_Int8 mav_type;
MAV_TYPE get_mav_type(void) const;
// time we last got an EKF yaw reset
uint32_t ekfYawReset_ms;

8
ArduPlane/system.cpp
View File

@ -96,11 +96,6 @@ void Plane::init_ardupilot()
// setup telem slots with serial ports
gcs().setup_uarts(serial_manager);
// setup frsky
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky, and pass a number of parameters to the library
frsky_telemetry.init(MAV_TYPE_FIXED_WING);
#endif
#if DEVO_TELEM_ENABLED == ENABLED
devo_telemetry.init();
#endif
@ -308,9 +303,6 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
previous_mode_reason = control_mode_reason;
control_mode_reason = reason;
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
#if DEVO_TELEM_ENABLED == ENABLED
devo_telemetry.update_control_mode(control_mode);
#endif