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Rover: add ADSB message stream and send oadb objects

This commit is contained in:
Randy Mackay 2019-07-20 15:24:56 +09:00 committed by Tom Pittenger
parent 6d1362d569
commit a381502ad1
1 changed files with 26 additions and 0 deletions
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26
APMrover2/GCS_Mavlink.cpp
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@ -332,6 +332,18 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
rover.g2.windvane.send_wind(chan);
break;
case MSG_ADSB_VEHICLE: {
AP_OADatabase *oadb = AP::oadatabase();
if (oadb != nullptr) {
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
uint16_t interval_ms = 0;
if (get_ap_message_interval(id, interval_ms)) {
oadb->send_adsb_vehicle(chan, interval_ms);
}
}
break;
}
default:
return GCS_MAVLINK::try_send_message(id);
}
@ -429,6 +441,16 @@ 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], 0),
AP_GROUPEND
};
@ -497,6 +519,9 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM
};
static const ap_message STREAM_ADSB_msgs[] = {
MSG_ADSB_VEHICLE
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
@ -507,6 +532,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_ENTRY(STREAM_PARAMS),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};