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Rover: fixes for Frsky_Telem API changes

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This commit is contained in:
Andrew Tridgell 2016-08-10 08:27:42 +10:00
parent 185ef73684
commit 203e0c7472
4 changed files with 10 additions and 3 deletions
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5
APMrover2/GCS_Mavlink.cpp
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@ -207,6 +207,11 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
0, // comm drops in pkts, 0, // comm drops in pkts,
0, 0, 0, 0); 0, 0, 0, 0);
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
uint32_t sensors_error_flags = (control_sensors_health ^ control_sensors_enabled) & control_sensors_present;
frsky_telemetry.update_sensor_status_flags(sensors_error_flags);
#endif
} }
void Rover::send_location(mavlink_channel_t chan) void Rover::send_location(mavlink_channel_t chan)

1
APMrover2/make.inc
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@ -38,7 +38,6 @@ LIBRARIES += AP_Navigation
LIBRARIES += APM_Control LIBRARIES += APM_Control
LIBRARIES += AP_L1_Control LIBRARIES += AP_L1_Control
LIBRARIES += AP_BoardConfig LIBRARIES += AP_BoardConfig
LIBRARIES += AP_InertialNav
LIBRARIES += AP_Frsky_Telem LIBRARIES += AP_Frsky_Telem
LIBRARIES += AP_Notify LIBRARIES += AP_Notify
LIBRARIES += AP_BattMonitor LIBRARIES += AP_BattMonitor

6
APMrover2/system.cpp
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@ -129,7 +129,7 @@ void Rover::init_ardupilot()
// setup frsky telemetry // setup frsky telemetry
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.init(serial_manager, (uint8_t *)&control_mode); frsky_telemetry.init(serial_manager);
#endif #endif
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
@ -277,6 +277,10 @@ void Rover::set_mode(enum mode mode)
throttle = 500; throttle = 500;
g.pidSpeedThrottle.reset_I(); g.pidSpeedThrottle.reset_I();
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
if (control_mode != AUTO) { if (control_mode != AUTO) {
auto_triggered = false; auto_triggered = false;
} }

1
APMrover2/wscript
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@ -10,7 +10,6 @@ def build(bld):
'APM_Control', 'APM_Control',
'AP_Arming', 'AP_Arming',
'AP_Camera', 'AP_Camera',
'AP_InertialNav',
'AP_Frsky_Telem', 'AP_Frsky_Telem',
'AP_L1_Control', 'AP_L1_Control',
'AP_Menu', 'AP_Menu',