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Copter: add ADSB_streamrate

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This commit is contained in:
Tom Pittenger 2016-06-15 17:17:57 -07:00
parent 07b22dc6eb
commit 66d4caeeb0
1 changed files with 21 additions and 1 deletions
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20
ArduCopter/GCS_Mavlink.cpp
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@ -740,6 +740,11 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
case MSG_MAG_CAL_REPORT: case MSG_MAG_CAL_REPORT:
copter.compass.send_mag_cal_report(chan); copter.compass.send_mag_cal_report(chan);
break; break;
case MSG_ADSB_VEHICLE:
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
copter.adsb.send_adsb_vehicle(chan);
break;
} }
return true; return true;
@ -827,6 +832,15 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0), AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
// @Description: ADSB stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5),
AP_GROUPEND AP_GROUPEND
}; };
@ -933,6 +947,12 @@ GCS_MAVLINK_Copter::data_stream_send(void)
send_message(MSG_VIBRATION); send_message(MSG_VIBRATION);
send_message(MSG_RPM); send_message(MSG_RPM);
} }
if (copter.gcs_out_of_time) return;
if (stream_trigger(STREAM_ADSB)) {
send_message(MSG_ADSB_VEHICLE);
}
} }