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APM: removed unnecessary waypoint_sending flag

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This commit is contained in:
Andrew Tridgell 2012-09-22 19:38:05 +10:00
parent 0a1f428669
commit 26e526c3ab
2 changed files with 2 additions and 19 deletions
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1
ArduPlane/GCS.h
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@ -180,7 +180,6 @@ private:
uint16_t waypoint_request_last; // last request index uint16_t waypoint_request_last; // last request index
uint16_t waypoint_dest_sysid; // where to send requests uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // " uint16_t waypoint_dest_compid; // "
bool waypoint_sending; // currently in send process
bool waypoint_receiving; // currently receiving bool waypoint_receiving; // currently receiving
uint16_t waypoint_count; uint16_t waypoint_count;
uint32_t waypoint_timelast_send; // milliseconds uint32_t waypoint_timelast_send; // milliseconds

20
ArduPlane/GCS_Mavlink.pde
View File

@ -787,7 +787,7 @@ GCS_MAVLINK::update(void)
// Update packet drops counter // Update packet drops counter
packet_drops += status.packet_rx_drop_count; packet_drops += status.packet_rx_drop_count;
if (!waypoint_receiving && !waypoint_sending) { if (!waypoint_receiving) {
return; return;
} }
@ -800,11 +800,6 @@ GCS_MAVLINK::update(void)
send_message(MSG_NEXT_WAYPOINT); send_message(MSG_NEXT_WAYPOINT);
} }
// stop waypoint sending if timeout
if (waypoint_sending && (millis() - waypoint_timelast_send) > waypoint_send_timeout) {
waypoint_sending = false;
}
// stop waypoint receiving if timeout // stop waypoint receiving if timeout
if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout) { if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout) {
waypoint_receiving = false; waypoint_receiving = false;
@ -819,8 +814,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
// send at a much lower rate while handling waypoints and // send at a much lower rate while handling waypoints and
// parameter sends // parameter sends
if (waypoint_receiving || waypoint_sending || if (waypoint_receiving || _queued_parameter != NULL) {
_queued_parameter != NULL) {
rate *= 0.25; rate *= 0.25;
} }
@ -1158,7 +1152,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
g.command_total + 1); // + home g.command_total + 1); // + home
waypoint_timelast_send = millis(); waypoint_timelast_send = millis();
waypoint_sending = true;
waypoint_receiving = false; waypoint_receiving = false;
waypoint_dest_sysid = msg->sysid; waypoint_dest_sysid = msg->sysid;
waypoint_dest_compid = msg->compid; waypoint_dest_compid = msg->compid;
@ -1169,10 +1162,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS // XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST: case MAVLINK_MSG_ID_MISSION_REQUEST:
{ {
// Check if sending waypiont
//if (!waypoint_sending) break;
// 5/10/11 - We are trying out relaxing the requirement that we be in waypoint sending mode to respond to a waypoint request. DEW
// decode // decode
mavlink_mission_request_t packet; mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet); mavlink_msg_mission_request_decode(msg, &packet);
@ -1277,9 +1266,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_mission_ack_t packet; mavlink_mission_ack_t packet;
mavlink_msg_mission_ack_decode(msg, &packet); mavlink_msg_mission_ack_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break; if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// turn off waypoint send
waypoint_sending = false;
break; break;
} }
@ -1380,7 +1366,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_timelast_receive = millis(); waypoint_timelast_receive = millis();
waypoint_timelast_request = 0; waypoint_timelast_request = 0;
waypoint_receiving = true; waypoint_receiving = true;
waypoint_sending = false;
waypoint_request_i = 0; waypoint_request_i = 0;
waypoint_request_last= g.command_total; waypoint_request_last= g.command_total;
break; break;
@ -1404,7 +1389,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_timelast_receive = millis(); waypoint_timelast_receive = millis();
waypoint_timelast_request = 0; waypoint_timelast_request = 0;
waypoint_receiving = true; waypoint_receiving = true;
waypoint_sending = false;
waypoint_request_i = packet.start_index; waypoint_request_i = packet.start_index;
waypoint_request_last= packet.end_index; waypoint_request_last= packet.end_index;
break; break;