mirror of https://github.com/ArduPilot/ardupilot
Plane: avoid allocate a GCS_MAVLINK per mavlink channel
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74670a77be
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7e5a6f1895
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@ -450,7 +450,7 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
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/*
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/*
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default stream rates to 1Hz
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default stream rates to 1Hz
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*/
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*/
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const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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// @Param: RAW_SENS
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// @Param: RAW_SENS
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// @DisplayName: Raw sensor stream rate
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// @DisplayName: Raw sensor stream rate
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// @Description: Raw sensor stream rate to ground station
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// @Description: Raw sensor stream rate to ground station
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@ -458,7 +458,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 1),
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// @Param: EXT_STAT
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// @Param: EXT_STAT
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// @DisplayName: Extended status stream rate to ground station
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// @DisplayName: Extended status stream rate to ground station
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@ -467,7 +467,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 1),
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// @Param: RC_CHAN
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// @Param: RC_CHAN
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// @DisplayName: RC Channel stream rate to ground station
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// @DisplayName: RC Channel stream rate to ground station
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@ -476,7 +476,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 1),
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// @Param: RAW_CTRL
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// @Param: RAW_CTRL
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// @DisplayName: Raw Control stream rate to ground station
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// @DisplayName: Raw Control stream rate to ground station
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@ -485,7 +485,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 1),
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// @Param: POSITION
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// @Param: POSITION
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// @DisplayName: Position stream rate to ground station
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// @DisplayName: Position stream rate to ground station
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@ -494,7 +494,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 1),
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// @Param: EXTRA1
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// @Param: EXTRA1
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// @DisplayName: Extra data type 1 stream rate to ground station
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// @DisplayName: Extra data type 1 stream rate to ground station
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@ -503,7 +503,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 1),
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// @Param: EXTRA2
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// @Param: EXTRA2
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// @DisplayName: Extra data type 2 stream rate to ground station
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// @DisplayName: Extra data type 2 stream rate to ground station
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@ -512,7 +512,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 1),
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// @Param: EXTRA3
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// @Param: EXTRA3
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// @DisplayName: Extra data type 3 stream rate to ground station
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// @DisplayName: Extra data type 3 stream rate to ground station
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@ -521,7 +521,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 1),
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// @Param: PARAMS
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// @Param: PARAMS
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// @DisplayName: Parameter stream rate to ground station
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// @DisplayName: Parameter stream rate to ground station
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@ -530,7 +530,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 10
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// @Range: 0 10
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 10),
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// @Param: ADSB
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// @Param: ADSB
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// @DisplayName: ADSB stream rate to ground station
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// @DisplayName: ADSB stream rate to ground station
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@ -539,7 +539,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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// @Range: 0 50
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// @Range: 0 50
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// @Increment: 1
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// @Increment: 1
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5),
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AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 5),
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AP_GROUPEND
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AP_GROUPEND
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};
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};
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@ -1349,7 +1349,6 @@ void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg
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void Plane::mavlink_delay_cb()
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void Plane::mavlink_delay_cb()
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{
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{
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static uint32_t last_1hz, last_50hz, last_5s;
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static uint32_t last_1hz, last_50hz, last_5s;
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if (!gcs().chan(0).initialised) return;
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logger.EnableWrites(false);
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logger.EnableWrites(false);
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@ -8,6 +8,8 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
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public:
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public:
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using GCS_MAVLINK::GCS_MAVLINK;
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protected:
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protected:
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uint32_t telem_delay() const override;
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uint32_t telem_delay() const override;
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@ -9,23 +9,20 @@ class GCS_Plane : public GCS
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public:
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public:
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// return the number of valid GCS objects
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uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
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// return GCS link at offset ofs
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// return GCS link at offset ofs
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GCS_MAVLINK_Plane &chan(uint8_t ofs) override {
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GCS_MAVLINK_Plane *chan(const uint8_t ofs) override {
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if (ofs >= num_gcs()) {
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if (ofs > _num_gcs) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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ofs = 0;
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return nullptr;
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}
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}
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return _chan[ofs];
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return (GCS_MAVLINK_Plane *)_chan[ofs];
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}
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}
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const GCS_MAVLINK_Plane &chan(uint8_t ofs) const override {
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const GCS_MAVLINK_Plane *chan(const uint8_t ofs) const override {
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if (ofs >= num_gcs()) {
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if (ofs > _num_gcs) {
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
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ofs = 0;
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return nullptr;
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}
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}
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return _chan[ofs];
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return (GCS_MAVLINK_Plane *)_chan[ofs];
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}
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}
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protected:
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protected:
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@ -34,8 +31,8 @@ protected:
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uint32_t custom_mode() const override;
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uint32_t custom_mode() const override;
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MAV_TYPE frame_type() const override;
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MAV_TYPE frame_type() const override;
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private:
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GCS_MAVLINK_Plane *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms,
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AP_HAL::UARTDriver &uart) override {
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GCS_MAVLINK_Plane _chan[MAVLINK_COMM_NUM_BUFFERS];
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return new GCS_MAVLINK_Plane(params, uart);
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}
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};
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};
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@ -970,19 +970,19 @@ const AP_Param::Info Plane::var_info[] = {
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// @Group: SR0_
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// @Group: SR0_
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// @Path: GCS_Mavlink.cpp
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// @Path: GCS_Mavlink.cpp
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GOBJECTN(_gcs._chan[0], gcs0, "SR0_", GCS_MAVLINK),
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GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
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// @Group: SR1_
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// @Group: SR1_
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// @Path: GCS_Mavlink.cpp
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// @Path: GCS_Mavlink.cpp
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GOBJECTN(_gcs._chan[1], gcs1, "SR1_", GCS_MAVLINK),
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GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
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// @Group: SR2_
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// @Group: SR2_
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// @Path: GCS_Mavlink.cpp
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// @Path: GCS_Mavlink.cpp
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GOBJECTN(_gcs._chan[2], gcs2, "SR2_", GCS_MAVLINK),
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GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
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// @Group: SR3_
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// @Group: SR3_
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// @Path: GCS_Mavlink.cpp
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// @Path: GCS_Mavlink.cpp
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GOBJECTN(_gcs._chan[3], gcs3, "SR3_", GCS_MAVLINK),
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GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
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// @Group: INS_
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// @Group: INS_
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// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -55,8 +55,7 @@ void Plane::init_ardupilot()
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// initialise serial ports
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// initialise serial ports
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serial_manager.init();
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serial_manager.init();
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gcs().chan(0).setup_uart(0);
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gcs().setup_console();
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// Register mavlink_delay_cb, which will run anytime you have
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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// more than 5ms remaining in your call to hal.scheduler->delay
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@ -343,8 +342,8 @@ void Plane::check_long_failsafe()
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(tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
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(tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
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} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
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gcs().chan(0).last_radio_status_remrssi_ms != 0 &&
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gcs().chan(0)->last_radio_status_remrssi_ms != 0 &&
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(tnow - gcs().chan(0).last_radio_status_remrssi_ms) > g.fs_timeout_long*1000) {
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(tnow - gcs().chan(0)->last_radio_status_remrssi_ms) > g.fs_timeout_long*1000) {
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
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}
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}
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} else {
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} else {
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