Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: update for new find_serial()

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -68,8 +68,10 @@ void
GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol) GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol)
{ {
// search for serial port // 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 immediately if not found
return; 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 0x20 at 115200 on startup, which tells the bootloader to reset
and boot normally and boot normally
*/ */
gcs_serial.uart->begin(115200); uart->begin(115200);
AP_HAL::UARTDriver::flow_control old_flow_control = gcs_serial.uart->get_flow_control(); AP_HAL::UARTDriver::flow_control old_flow_control = uart->get_flow_control();
gcs_serial.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
for (uint8_t i=0; i<3; i++) { for (uint8_t i=0; i<3; i++) {
hal.scheduler->delay(1); hal.scheduler->delay(1);
gcs_serial.uart->write(0x30); uart->write(0x30);
gcs_serial.uart->write(0x20); 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 // 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 // and init the gcs instance
init(gcs_serial.uart, mav_chan); init(uart, mav_chan);
} }
uint16_t uint16_t