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GCS_MAVLink: allow sub to override sending of scaled_pressure3

This commit is contained in:
Peter Barker 2018-05-03 12:06:17 +10:00 committed by Peter Barker
parent 1f9d1ee5a2
commit 695c52be05
2 changed files with 23 additions and 10 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -173,6 +173,7 @@ public:
void send_system_time();
void send_radio_in();
void send_raw_imu();
virtual void send_scaled_pressure3(); // allow sub to override this
void send_scaled_pressure();
void send_sensor_offsets();
void send_ahrs();

32
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1114,6 +1114,27 @@ void GCS_MAVLINK::send_raw_imu()
mag.z);
}
// sub overrides this to send on-board temperature
void GCS_MAVLINK::send_scaled_pressure3()
{
const AP_Baro &barometer = AP::baro();
if (barometer.num_instances() < 3) {
return;
}
if (!HAVE_PAYLOAD_SPACE(chan, SCALED_PRESSURE3)) {
return;
}
const float pressure = barometer.get_pressure(2);
mavlink_msg_scaled_pressure3_send(
chan,
AP_HAL::millis(),
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(2))*0.01f, // hectopascal
barometer.get_temperature(2)*100); // 0.01 degrees C
}
void GCS_MAVLINK::send_scaled_pressure()
{
uint32_t now = AP_HAL::millis();
@ -1144,16 +1165,7 @@ void GCS_MAVLINK::send_scaled_pressure()
barometer.get_temperature(1)*100); // 0.01 degrees C
}
if (barometer.num_instances() > 2 &&
HAVE_PAYLOAD_SPACE(chan, SCALED_PRESSURE3)) {
pressure = barometer.get_pressure(2);
mavlink_msg_scaled_pressure3_send(
chan,
now,
pressure*0.01f, // hectopascal
(pressure - barometer.get_ground_pressure(2))*0.01f, // hectopascal
barometer.get_temperature(2)*100); // 0.01 degrees C
}
send_scaled_pressure3();
}
void GCS_MAVLINK::send_sensor_offsets()