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https://github.com/ArduPilot/ardupilot
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MAVLink: make ACM build with MAVLink 1.0 possible in arduino GUI
This commit is contained in:
Andrew Tridgell
parent
fef4134702
commit
7866740d62
@ -89,3 +89,7 @@
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// #define MOT_6 CH_4
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// #define MOT_7 CH_7
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// #define MOT_8 CH_8
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// use this to enable the new MAVLink 1.0 protocol, instead of the
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// older 0.9 protocol
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// #define MAVLINK10 ENABLED
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@ -94,7 +94,6 @@ http://code.google.com/p/ardupilot-mega/downloads/list
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#include <ModeFilter.h> // Mode Filter from Filter library
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#include <AverageFilter.h> // Mode Filter from Filter library
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#include <AP_Relay.h> // APM relay
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <memcheck.h>
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// Configuration
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@ -102,6 +101,8 @@ http://code.google.com/p/ardupilot-mega/downloads/list
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#include "config.h"
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#include "config_channels.h"
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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// Local modules
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#include "Parameters.h"
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#include "GCS.h"
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@ -8,7 +8,6 @@
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#include <GPS.h>
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#include <Stream.h>
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#include <stdint.h>
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@ -29,7 +29,7 @@ static bool mavlink_active;
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static NOINLINE void send_heartbeat(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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uint8_t system_status = MAV_STATE_ACTIVE;
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uint32_t custom_mode = control_mode;
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@ -102,7 +102,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
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static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
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{
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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uint32_t control_sensors_present = 0;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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@ -265,6 +265,21 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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#ifdef DESKTOP_BUILD
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void mavlink_simstate_send(uint8_t chan,
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float roll,
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float pitch,
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float yaw,
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float xAcc,
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float yAcc,
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float zAcc,
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float p,
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float q,
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float r)
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{
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mavlink_msg_simstate_send((mavlink_channel_t)chan,
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roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
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}
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// report simulator state
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static void NOINLINE send_simstate(mavlink_channel_t chan)
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{
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@ -286,7 +301,7 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
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static void NOINLINE send_gps_raw(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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uint8_t fix = g_gps->status();
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if (fix == GPS::GPS_OK) {
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fix = 3;
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@ -554,7 +569,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
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break;
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case MSG_GPS_RAW:
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
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#else
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CHECK_PAYLOAD_SIZE(GPS_RAW);
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@ -1050,7 +1065,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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break;
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}
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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case MAVLINK_MSG_ID_COMMAND_LONG:
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{
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// decode
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@ -1251,7 +1266,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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mavlink_set_mode_t packet;
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mavlink_msg_set_mode_decode(msg, &packet);
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#ifdef MAVLINK10
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#if MAVLINK10 == ENABLED
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if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
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// we ignore base_mode as there is no sane way to map
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// from that bitmap to a APM flight mode. We rely on
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@ -2172,3 +2187,19 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
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mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);
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}
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}
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// this code was moved from libraries/GCS_MAVLink to allow compile
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// time selection of MAVLink 1.0
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BetterStream *mavlink_comm_0_port;
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BetterStream *mavlink_comm_1_port;
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mavlink_system_t mavlink_system = {7,1,0,0};
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uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
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{
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if (sysid != mavlink_system.sysid)
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return 1;
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// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
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// If it is addressed to our system ID we assume it is for us
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return 0; // no error
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}
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@ -28,13 +28,13 @@ apm2beta:
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make -f Makefile EXTRAFLAGS="-DCONFIG_APM_HARDWARE=APM_HARDWARE_APM2 -DAPM2_BETA_HARDWARE"
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mavlink10:
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make -f Makefile EXTRAFLAGS="-DMAVLINK10"
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make -f Makefile EXTRAFLAGS="-DMAVLINK10=1"
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sitl:
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make -f ../libraries/Desktop/Makefile.desktop
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sitl-mavlink10:
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make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10"
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make -f ../libraries/Desktop/Makefile.desktop EXTRAFLAGS="-DMAVLINK10=1"
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sitl-octa:
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make -f ../libraries/Desktop/Makefile.desktop octa
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@ -224,8 +224,6 @@
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#define RELAY_TOGGLE 5
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#define STOP_REPEAT 10
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//#define MAV_CMD_CONDITION_YAW 23
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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