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AP_SerialManager: Add a helper to report if a serial link should have it's MAVLink data forwarded

This commit is contained in:
Michael du Breuil 2020-07-03 15:03:49 -07:00 committed by Peter Barker
parent 1fef30eef1
commit 2cdaf421d8
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -551,6 +551,15 @@ bool AP_SerialManager::get_mavlink_channel(enum SerialProtocol protocol, uint8_t
return false;
}
// should_forward_mavlink_telemetry - returns true if this port should forward telemetry
bool AP_SerialManager::should_forward_mavlink_telemetry(enum SerialProtocol protocol, uint8_t instance) const
{
const struct UARTState *_state = find_protocol_instance(protocol, instance);
if (_state == nullptr) {
return true;
}
return (_state->options & AP_HAL::UARTDriver::OPTION_MAVLINK_NO_FORWARD) != AP_HAL::UARTDriver::OPTION_MAVLINK_NO_FORWARD;
}
// get_mavlink_protocol - provides the specific MAVLink protocol for a
// given channel, or SerialProtocol_None if not found

3
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -167,6 +167,9 @@ public:
// returns true if a channel is found, false if not
bool get_mavlink_channel(enum SerialProtocol protocol, uint8_t instance, mavlink_channel_t &mav_chan) const;
// should_forward_mavlink_telemetry - returns true if this port should forward telemetry
bool should_forward_mavlink_telemetry(enum SerialProtocol protocol, uint8_t instance) const;
// get_mavlink_protocol - provides the specific MAVLink protocol for a
// given channel, or SerialProtocol_None if not found
SerialProtocol get_mavlink_protocol(mavlink_channel_t mav_chan) const;