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Tracker: move sending of sys_status message up

This commit is contained in:
Peter Barker 2019-01-23 14:22:04 +11:00 committed by Andrew Tridgell
parent b48cb1e367
commit 9a2ca025dd
3 changed files with 9 additions and 28 deletions
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34
AntennaTracker/GCS_Mavlink.cpp
View File

@ -71,30 +71,15 @@ MAV_STATE GCS_MAVLINK_Tracker::system_status() const
return MAV_STATE_ACTIVE;
}
void Tracker::send_sys_status(mavlink_channel_t chan)
void GCS_MAVLINK_Tracker::get_sensor_status_flags(uint32_t &present,
uint32_t &enabled,
uint32_t &health)
{
int16_t battery_current = -1;
int8_t battery_remaining = -1;
tracker.update_sensor_status_flags();
if (battery.has_current() && battery.healthy()) {
battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100;
}
update_sensor_status_flags();
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
static_cast<uint16_t>(scheduler.load_average() * 1000),
battery.voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
0, 0, 0, 0);
present = tracker.control_sensors_present;
enabled = tracker.control_sensors_enabled;
health = tracker.control_sensors_health;
}
void Tracker::send_nav_controller_output(mavlink_channel_t chan)
@ -135,11 +120,6 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
tracker.send_nav_controller_output(chan);
break;
case MSG_SYS_STATUS:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
tracker.send_sys_status(chan);
break;
default:
return GCS_MAVLINK::try_send_message(id);
}

2
AntennaTracker/GCS_Mavlink.h
View File

@ -41,4 +41,6 @@ private:
MAV_MODE base_mode() const override;
uint32_t custom_mode() const override;
MAV_STATE system_status() const override;
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health);
};

1
AntennaTracker/Tracker.h
View File

@ -222,7 +222,6 @@ private:
bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
// GCS_Mavlink.cpp
void send_sys_status(mavlink_channel_t chan);
void send_nav_controller_output(mavlink_channel_t chan);
// Log.cpp