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Sub: Changes to match Copter updates.

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This commit is contained in:
Rustom Jehangir 2016-02-24 11:10:07 -08:00 committed by Andrew Tridgell
parent 473016b41d
commit 3869ce55e8
3 changed files with 10 additions and 30 deletions
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37
ArduSub/GCS_Mavlink.cpp
View File

@ -13,6 +13,7 @@ void Sub::gcs_send_heartbeat(void)
void Sub::gcs_send_deferred(void) void Sub::gcs_send_deferred(void)
{ {
gcs_send_message(MSG_RETRY_DEFERRED); gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext();
} }
/* /*
@ -486,16 +487,6 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
} }
} }
void NOINLINE Sub::send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
mavlink_msg_statustext_send(
chan,
s->severity,
s->text);
}
// are we still delaying telemetry to try to avoid Xbee bricking? // are we still delaying telemetry to try to avoid Xbee bricking?
bool Sub::telemetry_delayed(mavlink_channel_t chan) bool Sub::telemetry_delayed(mavlink_channel_t chan)
{ {
@ -658,9 +649,8 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break; break;
case MSG_STATUSTEXT: case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT); // depreciated, use GCS_MAVLINK::send_statustext*
sub.send_statustext(chan); return false;
break;
case MSG_LIMITS_STATUS: case MSG_LIMITS_STATUS:
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
@ -2083,11 +2073,7 @@ void Sub::gcs_check_input(void)
void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str) void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
{ {
for (uint8_t i=0; i<num_gcs; i++) { GCS_MAVLINK::send_statustext(severity, 0xFF, str);
if (gcs[i].initialised) {
gcs[i].send_text(severity, str);
}
}
} }
/* /*
@ -2097,17 +2083,10 @@ void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
*/ */
void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...) void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{ {
va_list arg_list; char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
gcs[0].pending_status.severity = (uint8_t)severity; va_list arg_list;
va_start(arg_list, fmt); va_start(arg_list, fmt);
hal.util->vsnprintf((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);
va_end(arg_list); va_end(arg_list);
gcs[0].send_message(MSG_STATUSTEXT); hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
for (uint8_t i=1; i<num_gcs; i++) { GCS_MAVLINK::send_statustext(severity, 0xFF, str);
if (gcs[i].initialised) {
gcs[i].pending_status = gcs[0].pending_status;
gcs[i].send_message(MSG_STATUSTEXT);
}
}
} }

1
ArduSub/Sub.h
View File

@ -600,7 +600,6 @@ private:
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void send_statustext(mavlink_channel_t chan);
bool telemetry_delayed(mavlink_channel_t chan); bool telemetry_delayed(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id); void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);

2
ArduSub/system.cpp
View File

@ -162,6 +162,8 @@ void Sub::init_ardupilot()
log_init(); log_init();
#endif #endif
GCS_MAVLINK::set_dataflash(&DataFlash);
// update motor interlock state // update motor interlock state
update_using_interlock(); update_using_interlock();