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Plane: add ADSB_streamrate

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This commit is contained in:
Tom Pittenger 2016-06-15 13:57:48 -07:00
parent 4fe94bdea3
commit 9b973fb899
1 changed files with 20 additions and 0 deletions
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20
ArduPlane/GCS_Mavlink.cpp
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@ -873,6 +873,11 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT);
plane.compass.send_mag_cal_report(chan);
break;
case MSG_ADSB_VEHICLE:
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
plane.adsb.send_adsb_vehicle(chan);
break;
}
return true;
}
@ -962,6 +967,15 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
// @Description: ADSB stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5),
AP_GROUPEND
};
@ -1081,6 +1095,12 @@ GCS_MAVLINK_Plane::data_stream_send(void)
send_message(MSG_GIMBAL_REPORT);
send_message(MSG_VIBRATION);
}
if (plane.gcs_out_of_time) return;
if (stream_trigger(STREAM_ADSB)) {
send_message(MSG_ADSB_VEHICLE);
}
}