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Tracker: integrate Serial Manager instance

This commit is contained in:
Randy Mackay 2015-03-27 18:53:24 -07:00
parent ff1d6dea61
commit a32220636a
1 changed files with 4 additions and 4 deletions
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8
AntennaTracker/system.pde
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@ -24,7 +24,7 @@ static void init_tracker()
barometer.init(); barometer.init();
// init the GCS // init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console); gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// set up snooping on other mavlink destinations // set up snooping on other mavlink destinations
gcs[0].set_snoop(mavlink_snoop); gcs[0].set_snoop(mavlink_snoop);
@ -39,11 +39,11 @@ static void init_tracker()
check_usb_mux(); check_usb_mux();
// setup serial port for telem1 // setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1); gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
#if MAVLINK_COMM_NUM_BUFFERS > 2 #if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2 // setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2); gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
#endif #endif
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;
@ -223,7 +223,7 @@ static void check_usb_mux(void)
if (usb_connected) { if (usb_connected) {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console); serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
} else { } else {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1); serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink, 0);
} }
#endif #endif
} }