CLI: enable "hit enter 3 times" support for CLI

if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode

ArduCopter/GCS.h

@@ -135,10 +135,14 @@ private:
     uint16_t    _parameter_count;                   ///< cache of reportable parameters
     AP_Var      *_find_parameter(uint16_t index);   ///< find a reportable parameter by index
 
-
 	mavlink_channel_t chan;
     uint16_t packet_drops;
 
+#if CLI_ENABLED == ENABLED
+    // this allows us to detect the user wanting the CLI to start
+    uint8_t crlf_count;
+#endif
+
 	// waypoints
 	uint16_t waypoint_request_i; // request index
 	uint16_t waypoint_dest_sysid; // where to send requests
@@ -150,7 +154,6 @@ private:
 	uint32_t waypoint_timelast_receive; // milliseconds
 	uint16_t waypoint_send_timeout; // milliseconds
 	uint16_t waypoint_receive_timeout; // milliseconds
-	float junk; //used to return a junk value for interface
 
 	// data stream rates
 	AP_Var_group	    _group;

ArduCopter/GCS_Mavlink.pde

@@ -8,6 +8,9 @@ static bool in_mavlink_delay;
 // messages don't block the CPU
 static mavlink_statustext_t pending_status;
 
+// true when we have received at least 1 MAVLink packet
+static bool mavlink_active;
+
 
 // check if a message will fit in the payload space available
 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
@@ -539,8 +542,26 @@ GCS_MAVLINK::update(void)
 	{
 		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 == false) {
+            if (c == '\n' || c == '\r') {
+                crlf_count++;
+            } else {
+                crlf_count = 0;
+            }
+            if (crlf_count == 3) {
+                run_cli();
+            }
+        }
+#endif
+
 		// Try to get a new message
-		if(mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
+        if (mavlink_parse_char(chan, c, &msg, &status)) {
+            mavlink_active = true;
+            handleMessage(&msg);
+        }
 	}
 
 	// Update packet drops counter

ArduCopter/config.h

@@ -692,6 +692,11 @@
 # define CLI_ENABLED ENABLED
 #endif
 
+// use this to disable the CLI slider switch
+#ifndef CLI_SLIDER_ENABLED
+# define CLI_SLIDER_ENABLED ENABLED
+#endif
+
 // delay to prevent Xbee bricking, in milliseconds
 #ifndef MAVLINK_TELEMETRY_PORT_DELAY
 # define MAVLINK_TELEMETRY_PORT_DELAY 2000

ArduCopter/system.pde

@@ -43,6 +43,14 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 // Create the top-level menu object.
 MENU(main_menu, THISFIRMWARE, main_menu_commands);
 
+// the user wants the CLI. It never exits
+static void run_cli(void)
+{
+    while (1) {
+        main_menu.run();
+    }
+}
+
 #endif // CLI_ENABLED
 
 static void init_ardupilot()
@@ -210,7 +218,7 @@ static void init_ardupilot()
 	DataFlash.Init();
 #endif
 
-#if CLI_ENABLED == ENABLED
+#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
 	// If the switch is in 'menu' mode, run the main menu.
 	//
 	// Since we can't be sure that the setup or test mode won't leave
@@ -220,11 +228,10 @@ static void init_ardupilot()
 	if (check_startup_for_CLI()) {
 		digitalWrite(A_LED_PIN,HIGH);		// turn on setup-mode LED
 		Serial.printf_P(PSTR("\nCLI:\n\n"));
-		for (;;) {
+        run_cli();
-			//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
-			main_menu.run();
-		}
 	}
+#else
+    Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
 #endif // CLI_ENABLED
 
     if(g.esc_calibrate == 1){

ArduPlane/GCS.h

@@ -135,10 +135,14 @@ private:
     uint16_t    _parameter_count;                   ///< cache of reportable parameters
     AP_Var      *_find_parameter(uint16_t index);   ///< find a reportable parameter by index
 
-
 	mavlink_channel_t chan;
     uint16_t packet_drops;
 
+#if CLI_ENABLED == ENABLED
+    // this allows us to detect the user wanting the CLI to start
+    uint8_t crlf_count;
+#endif
+
 	// waypoints
 	uint16_t waypoint_request_i; // request index
 	uint16_t waypoint_dest_sysid; // where to send requests
@@ -150,7 +154,6 @@ private:
 	uint32_t waypoint_timelast_receive; // milliseconds
 	uint16_t waypoint_send_timeout; // milliseconds
 	uint16_t waypoint_receive_timeout; // milliseconds
-	float junk; //used to return a junk value for interface
 
 	// data stream rates
 	AP_Var_group	    _group;

ArduPlane/GCS_Mavlink.pde

@@ -9,6 +9,8 @@ static bool in_mavlink_delay;
 // messages don't block the CPU
 static mavlink_statustext_t pending_status;
 
+// true when we have received at least 1 MAVLink packet
+static bool mavlink_active;
 
 // check if a message will fit in the payload space available
 #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
@@ -805,8 +807,26 @@ GCS_MAVLINK::update(void)
     {
         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) {
+            if (c == '\n' || c == '\r') {
+                crlf_count++;
+            } else {
+                crlf_count = 0;
+            }
+            if (crlf_count == 3) {
+                run_cli();
+            }
+        }
+#endif
+
         // Try to get a new message
-        if (mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
+        if (mavlink_parse_char(chan, c, &msg, &status)) {
+            mavlink_active = 1;
+            handleMessage(&msg);
+        }
     }
 
     // Update packet drops counter

ArduPlane/config.h

@@ -662,6 +662,11 @@
 # define CLI_ENABLED ENABLED
 #endif
 
+// use this to disable the CLI slider switch
+#ifndef CLI_SLIDER_ENABLED
+# define CLI_SLIDER_ENABLED ENABLED
+#endif
+
 // delay to prevent Xbee bricking, in milliseconds
 #ifndef MAVLINK_TELEMETRY_PORT_DELAY
 # define MAVLINK_TELEMETRY_PORT_DELAY 2000

ArduPlane/system.pde

@@ -43,6 +43,14 @@ static const struct Menu::command main_menu_commands[] PROGMEM = {
 // Create the top-level menu object.
 MENU(main_menu, THISFIRMWARE, main_menu_commands);
 
+// the user wants the CLI. It never exits
+static void run_cli(void)
+{
+    while (1) {
+        main_menu.run();
+    }
+}
+
 #endif // CLI_ENABLED
 
 static void init_ardupilot()
@@ -185,7 +193,7 @@ static void init_ardupilot()
 	// the system in an odd state, we don't let the user exit the top
 	// menu; they must reset in order to fly.
 	//
-#if CLI_ENABLED == ENABLED
+#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
 	if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
 		digitalWrite(A_LED_PIN,HIGH);		// turn on setup-mode LED
 		Serial.printf_P(PSTR("\n"
@@ -194,14 +202,13 @@ static void init_ardupilot()
 							 "If using the Arduino Serial Monitor, ensure Line Ending is set to Carriage Return.\n"
 							 "Type 'help' to list commands, 'exit' to leave a submenu.\n"
 							 "Visit the 'setup' menu for first-time configuration.\n"));
-		for (;;) {
+        Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
-			Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
+        run_cli();
-			main_menu.run();
-		}
 	}
+#else
+    Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
 #endif // CLI_ENABLED
 
-
 	if(g.log_bitmask != 0){
 		//	TODO - Here we will check  on the length of the last log
 		//  We don't want to create a bunch of little logs due to powering on and off