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syncing planner.pde with APM2. For planner menu item on main menu . (issue tracker 194)

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2598 f9c3cf11-9bcb-44bc-f272-b75c42450872
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dhcorley@msn.com 2011-06-20 15:12:55 +00:00
parent 1345a2ac6d
commit 4d67241537
1 changed files with 50 additions and 0 deletions
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ArduCopterMega/planner.pde Normal file
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler.
static int8_t planner_gcs(uint8_t argc, const Menu::arg *argv);
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Common for implementation details
const struct Menu::command planner_menu_commands[] PROGMEM = {
{"gcs", planner_gcs},
};
// A Macro to create the Menu
MENU(planner_menu, "planner", planner_menu_commands);
int8_t
planner_mode(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("Planner Mode\n\nThis mode is not intended for manual use\n\n"));
planner_menu.run();
return 0;
}
static int8_t
planner_gcs(uint8_t argc, const Menu::arg *argv)
{
gcs.init(&Serial);
int loopcount = 0;
while (1) {
if (millis()-fast_loopTimer > 19) {
fast_loopTimer = millis();
gcs.update();
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(45,1000);
if ((loopcount % 5) == 0) // 10 hz
gcs.data_stream_send(5,45);
if ((loopcount % 16) == 0) { // 3 hz
gcs.data_stream_send(1,5);
gcs.send_message(MSG_HEARTBEAT);
}
#endif
loopcount++;
}
}
return 0;
}