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AP_AccelCal: stop using mavlink_snoop for target traffic

This commit is contained in:
Peter Barker 2018-03-17 17:56:57 +11:00 committed by Randy Mackay
parent beb5dc2fd6
commit 9ad058783a
2 changed files with 9 additions and 6 deletions
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12
libraries/AP_AccelCal/AP_AccelCal.cpp
View File

@ -21,7 +21,6 @@
const extern AP_HAL::HAL& hal; const extern AP_HAL::HAL& hal;
static bool _start_collect_sample; static bool _start_collect_sample;
static void _snoop(const mavlink_message_t* msg);
uint8_t AP_AccelCal::_num_clients = 0; uint8_t AP_AccelCal::_num_clients = 0;
AP_AccelCal_Client* AP_AccelCal::_clients[AP_ACCELCAL_MAX_NUM_CLIENTS] {}; AP_AccelCal_Client* AP_AccelCal::_clients[AP_ACCELCAL_MAX_NUM_CLIENTS] {};
@ -97,8 +96,7 @@ void AP_AccelCal::update()
return; return;
} }
_printf("Place vehicle %s and press any key.", msg); _printf("Place vehicle %s and press any key.", msg);
// setup snooping of packets so we can see the COMMAND_ACK _waiting_for_mavlink_ack = true;
_gcs->set_snoop(_snoop);
} }
} }
@ -277,8 +275,6 @@ void AP_AccelCal::collect_sample()
for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) { for(uint8_t i=0 ; (cal = get_calibrator(i)) ; i++) {
cal->collect_sample(); cal->collect_sample();
} }
// setup snooping of packets so we can see the COMMAND_ACK
_gcs->set_snoop(nullptr);
_start_collect_sample = false; _start_collect_sample = false;
update_status(); update_status();
} }
@ -357,8 +353,12 @@ bool AP_AccelCal::client_active(uint8_t client_num)
return (bool)_clients[client_num]->_acal_get_calibrator(0); return (bool)_clients[client_num]->_acal_get_calibrator(0);
} }
static void _snoop(const mavlink_message_t* msg) void AP_AccelCal::handleMessage(const mavlink_message_t* msg)
{ {
if (!_waiting_for_mavlink_ack) {
return;
}
_waiting_for_mavlink_ack = false;
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_ACK) { if (msg->msgid == MAVLINK_MSG_ID_COMMAND_ACK) {
_start_collect_sample = true; _start_collect_sample = true;
} }

3
libraries/AP_AccelCal/AP_AccelCal.h
View File

@ -33,9 +33,12 @@ public:
// interface to the clients for registration // interface to the clients for registration
static void register_client(AP_AccelCal_Client* client); static void register_client(AP_AccelCal_Client* client);
void handleMessage(const mavlink_message_t * msg);
private: private:
GCS_MAVLINK *_gcs; GCS_MAVLINK *_gcs;
bool _use_gcs_snoop; bool _use_gcs_snoop;
bool _waiting_for_mavlink_ack = false;
uint32_t _last_position_request_ms; uint32_t _last_position_request_ms;
uint8_t _step; uint8_t _step;
accel_cal_status_t _status; accel_cal_status_t _status;