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Rover: split SYS_STATUS and POWER_STATUS onto separate ap_messages

This commit is contained in:
Peter Barker 2018-12-18 13:07:15 +11:00 committed by Peter Barker
parent 039ade421e
commit 90d13548a1
2 changed files with 15 additions and 10 deletions
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23
APMrover2/GCS_Mavlink.cpp
View File

@ -301,6 +301,11 @@ uint32_t GCS_MAVLINK_Rover::telem_delay() const
return static_cast<uint32_t>(rover.g.telem_delay);
}
bool GCS_MAVLINK_Rover::vehicle_initialised() const
{
return rover.control_mode != &rover.mode_initializing;
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
{
@ -319,17 +324,14 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
switch (id) {
case MSG_EXTENDED_STATUS1:
case MSG_SYS_STATUS:
// send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user
if (initialised) {
if (PAYLOAD_SIZE(chan, SYS_STATUS) +
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
}
rover.send_sys_status(chan);
send_power_status();
if (!vehicle_initialised()) {
return true;
}
CHECK_PAYLOAD_SIZE(SYS_STATUS);
rover.send_sys_status(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
@ -479,7 +481,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
MSG_GPS_RAW,
@ -1178,7 +1181,7 @@ void Rover::mavlink_delay_cb()
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_EXTENDED_STATUS1);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;

2
APMrover2/GCS_Mavlink.h
View File

@ -30,6 +30,8 @@ protected:
bool persist_streamrates() const override { return true; }
bool vehicle_initialised() const override;
private:
void handleMessage(mavlink_message_t * msg) override;