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AP_Devo_Telem: move devo telemetry handling to GCS

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This commit is contained in:
Peter Barker 2019-02-14 10:12:14 +11:00 committed by Peter Barker
parent bc2080cea2
commit 32d576ac4b
2 changed files with 5 additions and 13 deletions
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7
libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
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@ -29,6 +29,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_GPS/AP_GPS.h> #include <AP_GPS/AP_GPS.h>
#include <AP_BattMonitor/AP_BattMonitor.h> #include <AP_BattMonitor/AP_BattMonitor.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -76,7 +77,7 @@ uint32_t AP_DEVO_Telem::gpsDdToDmsFormat(float ddm)
#define DEVO_SPEED_FACTOR 0.0194384f #define DEVO_SPEED_FACTOR 0.0194384f
void AP_DEVO_Telem::send_frames(uint8_t control_mode) void AP_DEVO_Telem::send_frames()
{ {
// return immediately if not initialised // return immediately if not initialised
if (_port == nullptr) { if (_port == nullptr) {
@ -109,7 +110,7 @@ void AP_DEVO_Telem::send_frames(uint8_t control_mode)
devoPacket.volt = roundf(AP::battery().voltage() * 10.0f); devoPacket.volt = roundf(AP::battery().voltage() * 10.0f);
devoPacket.temp = control_mode; // Send mode as temperature devoPacket.temp = gcs().custom_mode(); // Send mode as temperature
devoPacket.checksum8 = 0; // Init Checksum with zero Byte devoPacket.checksum8 = 0; // Init Checksum with zero Byte
@ -127,6 +128,6 @@ void AP_DEVO_Telem::tick(void)
if (now - _last_frame_ms > 1000) { if (now - _last_frame_ms > 1000) {
_last_frame_ms = now; _last_frame_ms = now;
send_frames(_control_mode); send_frames();
} }
} }

11
libraries/AP_Devo_Telem/AP_Devo_Telem.h
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@ -29,13 +29,6 @@ public:
void init(); void init();
// update flight control mode. The control mode is vehicle type specific
void update_control_mode(uint8_t mode)
{
_control_mode = mode;
}
private: private:
typedef struct PACKED { typedef struct PACKED {
uint8_t header; ///< 0xAA for a valid packet uint8_t header; ///< 0xAA for a valid packet
@ -54,12 +47,10 @@ private:
void tick(void); void tick(void);
// send_frames - sends updates down telemetry link // send_frames - sends updates down telemetry link
void send_frames(uint8_t control_mode); void send_frames();
DevoMPacket devoPacket; DevoMPacket devoPacket;
uint8_t _control_mode;
AP_HAL::UARTDriver *_port; // UART used to send data to receiver AP_HAL::UARTDriver *_port; // UART used to send data to receiver
uint32_t _last_frame_ms; uint32_t _last_frame_ms;