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Copter: move gcs_out_of_time into GCS object

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This commit is contained in:
Peter Barker 2017-08-21 12:32:58 +10:00 committed by Francisco Ferreira
parent 89e3f1dbd8
commit 6b5fd5fbdd
3 changed files with 11 additions and 15 deletions
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1
ArduCopter/Copter.cpp
View File

@ -103,7 +103,6 @@ Copter::Copter(void) :
input_manager(),
#endif
in_mavlink_delay(false),
gcs_out_of_time(false),
param_loader(var_info)
{
memset(&current_loc, 0, sizeof(current_loc));

3
ArduCopter/Copter.h
View File

@ -613,9 +613,6 @@ private:
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
// true if we are out of time in our event timeslice
bool gcs_out_of_time;
// last valid RC input time
uint32_t last_radio_update_ms;

22
ArduCopter/GCS_Mavlink.cpp
View File

@ -294,7 +294,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
// dereference; it means that we send messages out even if we're
// failing to detect a PX4 board type (see delay(3000) in px_drivers).
if (copter.motors != nullptr && copter.scheduler.time_available_usec() < 250 && copter.motors->armed()) {
copter.gcs_out_of_time = true;
gcs().set_out_of_time(true);
return false;
}
#endif
@ -581,11 +581,11 @@ GCS_MAVLINK_Copter::data_stream_send(void)
copter.DataFlash.handle_log_send(*this);
}
copter.gcs_out_of_time = false;
gcs().set_out_of_time(false);
send_queued_parameters();
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (copter.in_mavlink_delay) {
// don't send any other stream types while in the delay callback
@ -598,7 +598,7 @@ GCS_MAVLINK_Copter::data_stream_send(void)
send_message(MSG_RAW_IMU3); // SENSOR_OFFSETS
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1); // SYS_STATUS, POWER_STATUS
@ -612,26 +612,26 @@ GCS_MAVLINK_Copter::data_stream_send(void)
send_message(MSG_FENCE_STATUS);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_POSITION)) {
send_message(MSG_LOCATION);
send_message(MSG_LOCAL_POSITION);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_SERVO_OUTPUT_RAW);
send_message(MSG_RADIO_IN);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
@ -639,13 +639,13 @@ GCS_MAVLINK_Copter::data_stream_send(void)
send_message(MSG_PID_TUNING);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
@ -667,7 +667,7 @@ GCS_MAVLINK_Copter::data_stream_send(void)
send_message(MSG_RPM);
}
if (copter.gcs_out_of_time) return;
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_ADSB)) {
send_message(MSG_ADSB_VEHICLE);