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Tracker: factor vehicle's mavlink send_heartbeat

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Peter Barker 2018-03-22 20:30:44 +11:00 committed by Francisco Ferreira
parent a45e3cba15
commit a0a1ca4d95
3 changed files with 26 additions and 12 deletions
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33
AntennaTracker/GCS_Mavlink.cpp
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@ -15,12 +15,14 @@
* pattern below when adding any new messages * pattern below when adding any new messages
*/ */
void Tracker::send_heartbeat(mavlink_channel_t chan) MAV_TYPE GCS_MAVLINK_Tracker::frame_type() const
{
return MAV_TYPE_ANTENNA_TRACKER;
}
MAV_MODE GCS_MAVLINK_Tracker::base_mode() const
{ {
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
// work out the base_mode. This value is not very useful // work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic // for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about // MAVLink enabled ground station can work out something about
@ -29,7 +31,7 @@ void Tracker::send_heartbeat(mavlink_channel_t chan)
// only get useful information from the custom_mode, which maps to // only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the // the APM flight mode and has a well defined meaning in the
// ArduPlane documentation // ArduPlane documentation
switch (control_mode) { switch (tracker.control_mode) {
case MANUAL: case MANUAL:
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break; break;
@ -48,7 +50,6 @@ void Tracker::send_heartbeat(mavlink_channel_t chan)
break; break;
case INITIALISING: case INITIALISING:
system_status = MAV_STATE_CALIBRATING;
break; break;
} }
@ -57,10 +58,20 @@ void Tracker::send_heartbeat(mavlink_channel_t chan)
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} }
gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_ANTENNA_TRACKER, return (MAV_MODE)base_mode;
base_mode, }
custom_mode,
system_status); uint32_t GCS_MAVLINK_Tracker::custom_mode() const
{
return tracker.control_mode;
}
MAV_STATE GCS_MAVLINK_Tracker::system_status() const
{
if (tracker.control_mode == INITIALISING) {
return MAV_STATE_CALIBRATING;
}
return MAV_STATE_ACTIVE;
} }
void Tracker::send_attitude(mavlink_channel_t chan) void Tracker::send_attitude(mavlink_channel_t chan)
@ -167,7 +178,7 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
case MSG_HEARTBEAT: case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT); CHECK_PAYLOAD_SIZE(HEARTBEAT);
last_heartbeat_time = AP_HAL::millis(); last_heartbeat_time = AP_HAL::millis();
tracker.send_heartbeat(chan); send_heartbeat();
return true; return true;
case MSG_ATTITUDE: case MSG_ATTITUDE:

4
AntennaTracker/GCS_Mavlink.h
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@ -39,4 +39,8 @@ private:
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
MAV_TYPE frame_type() const override;
MAV_MODE base_mode() const override;
uint32_t custom_mode() const override;
MAV_STATE system_status() const override;
}; };

1
AntennaTracker/Tracker.h
View File

@ -202,7 +202,6 @@ private:
void one_second_loop(); void one_second_loop();
void ten_hz_logging_loop(); void ten_hz_logging_loop();
void send_heartbeat(mavlink_channel_t chan);
void send_attitude(mavlink_channel_t chan); void send_attitude(mavlink_channel_t chan);
void send_extended_status1(mavlink_channel_t chan); void send_extended_status1(mavlink_channel_t chan);
void send_location(mavlink_channel_t chan); void send_location(mavlink_channel_t chan);