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Plane: added MAVLink sonar logging

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This commit is contained in:
Andrew Tridgell 2013-10-31 09:54:45 +11:00
parent 5a0cb5dea4
commit 6b4a3ef98b
2 changed files with 19 additions and 0 deletions
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18
ArduPlane/GCS_Mavlink.pde
View File

@ -533,6 +533,18 @@ static void NOINLINE send_wind(mavlink_channel_t chan)
wind.z);
}
static void NOINLINE send_rangefinder(mavlink_channel_t chan)
{
if (!sonar.enabled()) {
// no sonar to report
return;
}
mavlink_msg_rangefinder_send(
chan,
sonar.distance_cm() * 0.01f,
sonar.voltage());
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(
@ -705,6 +717,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_hwstatus(chan);
break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
send_rangefinder(chan);
break;
case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
send_wind(chan);
@ -1099,6 +1116,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_WIND);
send_message(MSG_RANGEFINDER);
send_message(MSG_SYSTEM_TIME);
}
}

1
ArduPlane/defines.h
View File

@ -140,6 +140,7 @@ enum ap_message {
MSG_SIMSTATE,
MSG_HWSTATUS,
MSG_WIND,
MSG_RANGEFINDER,
MSG_RETRY_DEFERRED // this must be last
};