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Plane: updates for new GCS_MAVLink API

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This commit is contained in:
Andrew Tridgell 2014-05-21 12:44:05 +10:00
parent 2b44d33694
commit 511e8beaed
2 changed files with 9 additions and 88 deletions
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68
ArduPlane/GCS_Mavlink.pde
View File

@ -6,9 +6,6 @@
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// true if we are out of time in our event timeslice
static bool gcs_out_of_time;
@ -914,65 +911,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
AP_GROUPEND
};
void
GCS_MAVLINK::update(void)
{
// receive new packets
mavlink_message_t msg;
mavlink_status_t status;
status.packet_rx_drop_count = 0;
// process received bytes
uint16_t nbytes = comm_get_available(chan);
for (uint16_t i=0; i<nbytes; i++)
{
uint8_t c = comm_receive_ch(chan);
#if CLI_ENABLED == ENABLED
/* allow CLI to be started by hitting enter 3 times, if no
* heartbeat packets have been received */
if (mavlink_active == 0 && (millis() - _cli_timeout) < 20000 &&
comm_is_idle(chan)) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
crlf_count = 0;
}
if (crlf_count == 3) {
run_cli(_port);
}
}
#endif
// Try to get a new message
if (mavlink_parse_char(chan, c, &msg, &status)) {
// we exclude radio packets to make it possible to use the
// CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active = true;
}
handleMessage(&msg);
}
}
if (!waypoint_receiving) {
return;
}
uint32_t tnow = millis();
if (waypoint_receiving &&
waypoint_request_i <= waypoint_request_last &&
tnow - waypoint_timelast_request > 2000U + (stream_slowdown*20)) {
waypoint_timelast_request = tnow;
send_message(MSG_NEXT_WAYPOINT);
}
// stop waypoint receiving if timeout
if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout) {
waypoint_receiving = false;
}
}
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
@ -1777,7 +1715,11 @@ static void gcs_update(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].update();
#if CLI_ENABLED == ENABLED
gcs[i].update(run_cli);
#else
gcs[i].update(NULL);
#endif
}
}
}

29
ArduPlane/system.pde
View File

@ -95,7 +95,7 @@ static void init_ardupilot()
set_control_channels();
// reset the uartA baud rate after parameter load
hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
hal.uartA->begin(map_baudrate(g.serial0_baud));
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
@ -116,10 +116,10 @@ static void init_ardupilot()
check_usb_mux();
// we have a 2nd serial port for telemetry
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, SERIAL1_BUFSIZE);
gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, SERIAL1_BUFSIZE);
#if MAVLINK_COMM_NUM_BUFFERS > 2
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, SERIAL2_BUFSIZE);
gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, SERIAL2_BUFSIZE);
#endif
mavlink_system.sysid = g.sysid_this_mav;
@ -499,27 +499,6 @@ static void resetPerfData(void) {
}
/*
* map from a 8 bit EEPROM baud rate to a real baud rate
*/
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
switch (rate) {
case 1: return 1200;
case 2: return 2400;
case 4: return 4800;
case 9: return 9600;
case 19: return 19200;
case 38: return 38400;
case 57: return 57600;
case 111: return 111100;
case 115: return 115200;
}
cliSerial->println_P(PSTR("Invalid baudrate"));
return default_baud;
}
static void check_usb_mux(void)
{
bool usb_check = hal.gpio->usb_connected();
@ -538,7 +517,7 @@ static void check_usb_mux(void)
if (usb_connected) {
hal.uartA->begin(SERIAL0_BAUD);
} else {
hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
hal.uartA->begin(map_baudrate(g.serial1_baud));
}
#endif
}