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MAVLink: only send HEARTBEAT and SYS_STATUS during initialisation 

I am concerned that some of the mavlink send routines may impact on
sensor calibration, so its safer to just send the minimum information
to keep the GCS happy
This commit is contained in:
Andrew Tridgell 2011-09-13 18:54:00 +10:00
parent 3a9b7d6458
commit 49d96726d5
1 changed files with 3 additions and 20 deletions
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23
ArduPlane/GCS_Mavlink.pde
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@ -1085,15 +1085,6 @@ GCS_MAVLINK::_queued_send()
#endif // GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK || HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
static void send_rate(uint16_t low, uint16_t high) {
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(low, high);
#endif
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
hil.data_stream_send(low,high);
#endif
}
/*
a delay() callback that processes MAVLink packets. We set this as the
callback in long running library initialisation routines to allow
@ -1103,7 +1094,7 @@ static void send_rate(uint16_t low, uint16_t high) {
static void mavlink_delay(unsigned long t)
{
unsigned long tstart;
static unsigned long last_1hz, last_3hz, last_10hz, last_50hz;
static unsigned long last_1hz, last_50hz;
if (in_mavlink_delay) {
// this should never happen, but let's not tempt fate by
@ -1120,18 +1111,11 @@ static void mavlink_delay(unsigned long t)
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs.send_message(MSG_HEARTBEAT);
gcs.send_message(MSG_EXTENDED_STATUS1);
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
hil.send_message(MSG_HEARTBEAT);
hil.send_message(MSG_EXTENDED_STATUS1);
#endif
send_rate(1, 3);
}
if (tnow - last_3hz > 333) {
last_3hz = tnow;
send_rate(3, 5);
}
if (tnow - last_10hz > 100) {
last_10hz = tnow;
send_rate(5, 45);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
@ -1139,7 +1123,6 @@ static void mavlink_delay(unsigned long t)
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && (HIL_MODE != HIL_MODE_DISABLED || HIL_PORT == 0)
hil.update();
#endif
send_rate(45, 1000);
}
delay(1);
} while (millis() - tstart < t);