Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GCS_Mavlink: Move high_latency_link_enabled to GCS

This commit is contained in:
Stephen Dade 2022-12-21 11:34:27 +11:00 committed by Peter Barker
parent fab1c47b27
commit a39a933cbd
3 changed files with 11 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/GCS_MAVLink/GCS.cpp
View File

@ -116,12 +116,14 @@ void GCS::send_named_float(const char *name, float value) const
#if HAL_HIGH_LATENCY2_ENABLED
void GCS::enable_high_latency_connections(bool enabled)
{
for (uint8_t i=0; i<num_gcs(); i++) {
GCS_MAVLINK &c = *chan(i);
c.high_latency_link_enabled = enabled && c.is_high_latency_link;
}
high_latency_link_enabled = enabled;
gcs().send_text(MAV_SEVERITY_NOTICE, "High Latency %s", enabled ? "enabled" : "disabled");
}
bool GCS::get_high_latency_status()
{
return high_latency_link_enabled;
}
#endif // HAL_HIGH_LATENCY2_ENABLED
/*

9
libraries/GCS_MAVLink/GCS.h
View File

@ -418,8 +418,8 @@ public:
bool is_private(void) const { return is_private(chan); }
#if HAL_HIGH_LATENCY2_ENABLED
// return true if the link should be sending. Will return false if is a high latency link AND is not active
bool should_send() { return is_high_latency_link ? high_latency_link_enabled : true; }
// true if this is a high latency link
bool is_high_latency_link;
#endif
/*
@ -683,9 +683,6 @@ protected:
MAV_RESULT handle_control_high_latency(const mavlink_command_long_t &packet);
// true if this is a high latency link
bool is_high_latency_link;
bool high_latency_link_enabled;
#endif // HAL_HIGH_LATENCY2_ENABLED
static constexpr const float magic_force_arm_value = 2989.0f;
@ -1212,7 +1209,9 @@ public:
uint8_t get_channel_from_port_number(uint8_t port_num);
#if HAL_HIGH_LATENCY2_ENABLED
bool high_latency_link_enabled;
void enable_high_latency_connections(bool enabled);
bool get_high_latency_status();
#endif // HAL_HIGH_LATENCY2_ENABLED
virtual uint8_t sysid_this_mav() const = 0;

2
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -97,7 +97,7 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
#if HAL_HIGH_LATENCY2_ENABLED
// if it's a disabled high latency channel, don't send
GCS_MAVLINK *link = gcs().chan(chan);
if (!link->should_send()) {
if (link->is_high_latency_link && !gcs().get_high_latency_status()) {
return;
}
#endif