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GCS_MAVLink: remove unneeded telemetry_delayed parameter

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Also make it protected
This commit is contained in:
Peter Barker 2017-07-12 18:11:41 +10:00 committed by Francisco Ferreira
parent 187b4ef349
commit 3338de827e
2 changed files with 5 additions and 6 deletions
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7
libraries/GCS_MAVLink/GCS.h
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@ -212,10 +212,6 @@ public:
// return current packet overhead for a channel // return current packet overhead for a channel
static uint8_t packet_overhead_chan(mavlink_channel_t chan); static uint8_t packet_overhead_chan(mavlink_channel_t chan);
// FIXME: move this to be private/protected once possible
bool telemetry_delayed(mavlink_channel_t chan);
virtual uint32_t telem_delay() const = 0;
protected: protected:
// overridable method to check for packet acceptance. Allows for // overridable method to check for packet acceptance. Allows for
@ -269,6 +265,9 @@ protected:
void handle_timesync(mavlink_message_t *msg); void handle_timesync(mavlink_message_t *msg);
void handle_statustext(mavlink_message_t *msg); void handle_statustext(mavlink_message_t *msg);
bool telemetry_delayed() const;
virtual uint32_t telem_delay() const = 0;
private: private:
float adjust_rate_for_stream_trigger(enum streams stream_num); float adjust_rate_for_stream_trigger(enum streams stream_num);

4
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1520,13 +1520,13 @@ float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)
} }
// are we still delaying telemetry to try to avoid Xbee bricking? // are we still delaying telemetry to try to avoid Xbee bricking?
bool GCS_MAVLINK::telemetry_delayed(mavlink_channel_t _chan) bool GCS_MAVLINK::telemetry_delayed() const
{ {
uint32_t tnow = AP_HAL::millis() >> 10; uint32_t tnow = AP_HAL::millis() >> 10;
if (tnow > telem_delay()) { if (tnow > telem_delay()) {
return false; return false;
} }
if (_chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) { if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// this is USB telemetry, so won't be an Xbee // this is USB telemetry, so won't be an Xbee
return false; return false;
} }