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removed some more dead messages, and convert MSG_* to an enum 

this make it safer to add a new message while keeping deferred queue
the right size
This commit is contained in:
Andrew Tridgell 2011-09-18 13:33:01 +10:00
parent 7d6301976e
commit 9fed709be2
4 changed files with 25 additions and 63 deletions
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1
ArduPlane/ArduPlane.pde
View File

@ -436,7 +436,6 @@ void loop()
if (millis() - perf_mon_timer > 20000) { if (millis() - perf_mon_timer > 20000) {
if (mainLoop_count != 0) { if (mainLoop_count != 0) {
gcs.send_message(MSG_PERF_REPORT);
if (g.log_bitmask & MASK_LOG_PM) if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance(); Log_Write_Performance();

3
ArduPlane/Mavlink_Common.h
View File

@ -393,8 +393,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
} }
#define MAX_DEFERRED_MESSAGES 17 // should be at least equal to number of #define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
// switch types in mavlink_try_send_message()
static struct mavlink_queue { static struct mavlink_queue {
uint8_t deferred_messages[MAX_DEFERRED_MESSAGES]; uint8_t deferred_messages[MAX_DEFERRED_MESSAGES];
uint8_t next_deferred_message; uint8_t next_deferred_message;

81
ArduPlane/defines.h
View File

@ -1,5 +1,8 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef _DEFINES_H
#define _DEFINES_H
// Internal defines, don't edit and expect things to work // Internal defines, don't edit and expect things to work
// ------------------------------------------------------- // -------------------------------------------------------
@ -106,63 +109,25 @@
/// please keep each MSG_ to a single MAVLink message. If need be /// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same /// create new MSG_ IDs for additional messages on the same
/// stream /// stream
#define MSG_ACKNOWLEDGE 0x00 enum ap_message {
#define MSG_HEARTBEAT 0x01 MSG_HEARTBEAT,
#define MSG_ATTITUDE 0x02 MSG_ATTITUDE,
#define MSG_LOCATION 0x03 MSG_LOCATION,
#define MSG_PRESSURE 0x04 MSG_EXTENDED_STATUS1,
#define MSG_STATUS_TEXT 0x05 MSG_EXTENDED_STATUS2,
#define MSG_PERF_REPORT 0x06 MSG_NAV_CONTROLLER_OUTPUT,
#define MSG_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed MSG_CURRENT_WAYPOINT,
#define MSG_VERSION_REQUEST 0x08 MSG_VFR_HUD,
#define MSG_VERSION 0x09 MSG_RADIO_OUT,
#define MSG_EXTENDED_STATUS1 0x0a MSG_RADIO_IN,
#define MSG_EXTENDED_STATUS2 0x0b MSG_RAW_IMU1,
#define MSG_CPU_LOAD 0x0c MSG_RAW_IMU2,
#define MSG_NAV_CONTROLLER_OUTPUT 0x0d MSG_RAW_IMU3,
MSG_GPS_STATUS,
#define MSG_COMMAND_REQUEST 0x20 MSG_GPS_RAW,
#define MSG_COMMAND_UPLOAD 0x21 MSG_SERVO_OUT,
#define MSG_COMMAND_MODE_CHANGE 0x23 MSG_RETRY_DEFERRED // this must be last
#define MSG_CURRENT_WAYPOINT 0x24 };
#define MSG_VALUE_REQUEST 0x30
#define MSG_VALUE_SET 0x31
#define MSG_VALUE 0x32
#define MSG_PID_REQUEST 0x40
#define MSG_PID_SET 0x41
#define MSG_PID 0x42
#define MSG_VFR_HUD 0x4a
#define MSG_TRIM_STARTUP 0x50
#define MSG_TRIM_MIN 0x51
#define MSG_TRIM_MAX 0x52
#define MSG_RADIO_OUT 0x53
#define MSG_RADIO_IN 0x54
#define MSG_RAW_IMU1 0x60
#define MSG_RAW_IMU2 0x61
#define MSG_RAW_IMU3 0x62
#define MSG_GPS_STATUS 0x63
#define MSG_GPS_RAW 0x64
#define MSG_SERVO_OUT 0x70
#define MSG_PIN_REQUEST 0x80
#define MSG_PIN_SET 0x81
#define MSG_DATAFLASH_REQUEST 0x90
#define MSG_DATAFLASH_SET 0x91
#define MSG_EEPROM_REQUEST 0xa0
#define MSG_EEPROM_SET 0xa1
#define MSG_POSITION_CORRECT 0xb0
#define MSG_ATTITUDE_CORRECT 0xb1
#define MSG_POSITION_SET 0xb2
#define MSG_ATTITUDE_SET 0xb3
#define MSG_RETRY_DEFERRED 0xff
#define SEVERITY_LOW 1 #define SEVERITY_LOW 1
#define SEVERITY_MEDIUM 2 #define SEVERITY_MEDIUM 2
@ -263,3 +228,5 @@
// convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1) // convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
#define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1) #define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
#endif // _DEFINES_H

3
ArduPlane/system.pde
View File

@ -373,9 +373,6 @@ static void set_mode(byte mode)
break; break;
} }
// output control mode to the ground station
gcs.send_message(MSG_MODE_CHANGE);
if (g.log_bitmask & MASK_LOG_MODE) if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode); Log_Write_Mode(control_mode);
} }