Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

MAVLink: allow parameter fetch during mavlink_delay()

Browse Source 
this allows the planner to fully connect to the APM with MAVLink while
doing a DataFlash erase
This commit is contained in:
Andrew Tridgell 2012-05-22 16:08:46 +10:00
parent 1b9f34e4e0
commit 422dc82f32
2 changed files with 23 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
ArduCopter/GCS_Mavlink.pde
View File

@ -897,6 +897,11 @@ GCS_MAVLINK::data_stream_send(void)
return;
}
if (in_mavlink_delay) {
// don't send any other stream types while in the delay callback
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU2);
@ -1489,7 +1494,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // 21
{
//send_text_P(SEVERITY_LOW,PSTR("param request list"));
// gcs_send_text_P(SEVERITY_LOW,PSTR("param request list"));
// decode
mavlink_param_request_list_t packet;
@ -2082,7 +2087,7 @@ GCS_MAVLINK::queued_waypoint_send()
static void mavlink_delay(unsigned long t)
{
uint32_t tstart;
static uint32_t last_1hz, last_50hz;
static uint32_t last_1hz, last_50hz, last_5s;
if (in_mavlink_delay) {
// this should never happen, but let's not tempt fate by
@ -2104,6 +2109,11 @@ static void mavlink_delay(unsigned long t)
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
}
delay(1);
#if USB_MUX_PIN > 0
@ -2121,8 +2131,8 @@ static void gcs_send_message(enum ap_message id)
{
gcs0.send_message(id);
if (gcs3.initialised) {
gcs3.send_message(id);
}
gcs3.send_message(id);
}
}
/*
@ -2143,24 +2153,24 @@ static void gcs_update(void)
{
gcs0.update();
if (gcs3.initialised) {
gcs3.update();
}
gcs3.update();
}
}
static void gcs_send_text(gcs_severity severity, const char *str)
{
gcs0.send_text(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
}
gcs3.send_text(severity, str);
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
gcs0.send_text(severity, str);
if (gcs3.initialised) {
gcs3.send_text(severity, str);
}
gcs3.send_text(severity, str);
}
}
/*

6
ArduCopter/Log.pde
View File

@ -153,15 +153,15 @@ dump_log(uint8_t argc, const Menu::arg *argv)
void erase_callback(unsigned long t) {
mavlink_delay(t);
if (DataFlash.GetWritePage() % 128 == 0) {
Serial.printf_P(PSTR("+"));
gcs_send_text_P(SEVERITY_LOW, PSTR("+"));
}
}
static void do_erase_logs(void)
{
Serial.printf_P(PSTR("\nErasing log...\n"));
gcs_send_text_P(SEVERITY_LOW, PSTR("Erasing logs"));
DataFlash.EraseAll(erase_callback);
Serial.printf_P(PSTR("\nLog erased.\n"));
gcs_send_text_P(SEVERITY_LOW, PSTR("Log erase complete"));
}
static int8_t