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GCS_MAVLink: keep a bitmap of what mavlink channels are active 

- this will allow for looping over active channels in libraries
- expose active channel mask
This commit is contained in:
Andrew Tridgell 2014-07-17 21:03:12 +10:00
parent 1d42eda4da
commit 3020d91dcd
3 changed files with 10 additions and 6 deletions
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7
libraries/GCS_MAVLink/GCS.h
View File

@ -195,6 +195,10 @@ public:
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer); void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer);
void send_ahrs(AP_AHRS &ahrs); void send_ahrs(AP_AHRS &ahrs);
// return a bitmap of active channels. Used by libraries to loop
// over active channels to send to all active channels
static uint8_t active_channel_mask(void) { return mavlink_active; }
private: private:
void handleMessage(mavlink_message_t * msg); void handleMessage(mavlink_message_t * msg);
@ -293,7 +297,8 @@ private:
uint8_t next_deferred_message; uint8_t next_deferred_message;
uint8_t num_deferred_messages; uint8_t num_deferred_messages;
static bool mavlink_active; // bitmask of what mavlink channels are active
static uint8_t mavlink_active;
// vehicle specific message send function // vehicle specific message send function
bool try_send_message(enum ap_message id); bool try_send_message(enum ap_message id);

6
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -23,7 +23,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms; uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
bool GCS_MAVLINK::mavlink_active = false; uint8_t GCS_MAVLINK::mavlink_active = 0;
GCS_MAVLINK::GCS_MAVLINK() : GCS_MAVLINK::GCS_MAVLINK() :
waypoint_receive_timeout(5000) waypoint_receive_timeout(5000)
@ -871,7 +871,7 @@ GCS_MAVLINK::update(void (*run_cli)(AP_HAL::UARTDriver *))
if (run_cli != NULL) { if (run_cli != NULL) {
/* allow CLI to be started by hitting enter 3 times, if no /* allow CLI to be started by hitting enter 3 times, if no
* heartbeat packets have been received */ * heartbeat packets have been received */
if (!mavlink_active && (hal.scheduler->millis() - _cli_timeout) < 20000 && if ((mavlink_active==0) && (hal.scheduler->millis() - _cli_timeout) < 20000 &&
comm_is_idle(chan)) { comm_is_idle(chan)) {
if (c == '\n' || c == '\r') { if (c == '\n' || c == '\r') {
crlf_count++; crlf_count++;
@ -889,7 +889,7 @@ GCS_MAVLINK::update(void (*run_cli)(AP_HAL::UARTDriver *))
// we exclude radio packets to make it possible to use the // we exclude radio packets to make it possible to use the
// CLI over the radio // CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) { if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active = true; mavlink_active |= (1U<<chan);
} }
handleMessage(&msg); handleMessage(&msg);
} }

3
libraries/GCS_MAVLink/message_definitions/common.xml
View File

@ -2298,9 +2298,8 @@
<description>Request for terrain data and terrain status</description> <description>Request for terrain data and terrain status</description>
<field type="uint32_t" name="lat">Latitude of SW corner of first grid (degrees *10^7)</field> <field type="uint32_t" name="lat">Latitude of SW corner of first grid (degrees *10^7)</field>
<field type="uint32_t" name="lon">Longitude of SW corner of first grid (in degrees *10^7)</field> <field type="uint32_t" name="lon">Longitude of SW corner of first grid (in degrees *10^7)</field>
<field type="uint16_t" name="mask">Bitmask of requested 5x5 grids (row major 4x4 array of grids)</field>
<field type="uint16_t" name="grid_spacing">Grid spacing in meters</field> <field type="uint16_t" name="grid_spacing">Grid spacing in meters</field>
<field type="uint16_t" name="flags">Terrain status flags</field> <field type="uint8_t[9]" name="mask">Bitmask of requested 5x5 grids (row major 9x9 array of grids)</field>
</message> </message>
<message id="134" name="TERRAIN_DATA"> <message id="134" name="TERRAIN_DATA">
<description>Terrain data sent from GCS</description> <description>Terrain data sent from GCS</description>