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GCS_MAVLink: update for new find_serial()

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This commit is contained in:
Andrew Tridgell 2015-01-29 15:36:19 +11:00
parent e28deacc4c
commit 59d5351dab
1 changed files with 12 additions and 10 deletions
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22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -68,8 +68,10 @@ void
GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol)
{
// search for serial port
AP_SerialManager::serial_state gcs_serial;
if (!serial_manager.find_serial(protocol, gcs_serial)) {
AP_HAL::UARTDriver *uart;
uart = serial_manager.find_serial(protocol);
if (uart == NULL) {
// return immediately if not found
return;
}
@ -89,21 +91,21 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally
*/
gcs_serial.uart->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = gcs_serial.uart->get_flow_control();
gcs_serial.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
uart->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = uart->get_flow_control();
uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1);
gcs_serial.uart->write(0x30);
gcs_serial.uart->write(0x20);
uart->write(0x30);
uart->write(0x20);
}
gcs_serial.uart->set_flow_control(old_flow_control);
uart->set_flow_control(old_flow_control);
// now change back to desired baudrate
gcs_serial.uart->begin(map_baudrate(gcs_serial.baud));
uart->begin(serial_manager.find_baudrate(protocol));
// and init the gcs instance
init(gcs_serial.uart, mav_chan);
init(uart, mav_chan);
}
uint16_t