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Copter: avoid allocate a GCS_MAVLINK per mavlink channel

This commit is contained in:
Peter Barker 2019-06-18 20:38:00 +10:00 committed by Peter Barker
parent 7e5a6f1895
commit 48a1b2f436
5 changed files with 30 additions and 32 deletions
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26
ArduCopter/GCS_Copter.h
View File

@ -9,23 +9,20 @@ class GCS_Copter : public GCS
public:
// return the number of valid GCS objects
uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
// return GCS link at offset ofs
GCS_MAVLINK_Copter &chan(uint8_t ofs) override {
if (ofs >= num_gcs()) {
GCS_MAVLINK_Copter *chan(const uint8_t ofs) override {
if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0;
return nullptr;
}
return _chan[ofs];
return (GCS_MAVLINK_Copter *)_chan[ofs];
}
const GCS_MAVLINK_Copter &chan(uint8_t ofs) const override {
if (ofs >= num_gcs()) {
const GCS_MAVLINK_Copter *chan(const uint8_t ofs) const override {
if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0;
return nullptr;
}
return _chan[ofs];
return (GCS_MAVLINK_Copter *)_chan[ofs];
}
void update_vehicle_sensor_status_flags(void) override;
@ -50,8 +47,9 @@ protected:
return 250;
}
private:
GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Copter(params, uart);
}
};

23
ArduCopter/GCS_Mavlink.cpp
View File

@ -284,7 +284,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
@ -292,7 +292,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
@ -301,7 +301,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
@ -310,7 +310,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
@ -319,7 +319,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
@ -328,7 +328,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
@ -337,7 +337,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
@ -346,7 +346,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
@ -355,7 +355,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
@ -364,7 +364,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 0),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
@ -373,7 +373,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 0),
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 0),
AP_GROUPEND
};
@ -1240,7 +1240,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
void Copter::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) return;
logger.EnableWrites(false);

2
ArduCopter/GCS_Mavlink.h
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@ -7,6 +7,8 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
public:
using GCS_MAVLINK::GCS_MAVLINK;
protected:
uint32_t telem_delay() const override;

8
ArduCopter/Parameters.cpp
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@ -530,19 +530,19 @@ const AP_Param::Info Copter::var_info[] = {
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[0], gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[1], gcs1, "SR1_", GCS_MAVLINK),
GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[2], gcs2, "SR2_", GCS_MAVLINK),
GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[3], gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

3
ArduCopter/system.cpp
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@ -52,8 +52,7 @@ void Copter::init_ardupilot()
serial_manager.init();
// setup first port early to allow BoardConfig to report errors
gcs().chan(0).setup_uart(0);
gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay