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Copter: added uartD support

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this also brings GCS_Mavlink.pde closer to the plane implementation
This commit is contained in:
Andrew Tridgell 2013-11-23 21:45:42 +11:00
parent 21eac34cd1
commit a49710f20e
7 changed files with 164 additions and 158 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -346,8 +346,8 @@ static AP_OpticalFlow optflow;
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
static GCS_MAVLINK gcs0;
static GCS_MAVLINK gcs3;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
////////////////////////////////////////////////////////////////////////////////
// SONAR selection

28
ArduCopter/GCS.h
View File

@ -8,7 +8,9 @@
#define __GCS_H
#include <AP_HAL.h>
#include <AP_Common.h>
#include <GPS.h>
#include <stdint.h>
///
/// @class GCS
@ -39,7 +41,6 @@ public:
///
void init(AP_HAL::UARTDriver *port) {
_port = port;
initialised = true;
}
/// Update GCS state.
@ -60,6 +61,14 @@ public:
void send_message(enum ap_message id) {
}
/// Send a text message.
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text(gcs_severity severity, const char *str) {
}
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
@ -122,6 +131,10 @@ public:
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
// this costs us 51 bytes per instance, but means that low priority
// messages don't block the CPU
mavlink_statustext_t pending_status;
// call to reset the timeout window for entering the cli
void reset_cli_timeout();
private:
@ -140,6 +153,7 @@ private:
uint16_t _queued_parameter_count; ///< saved count of
// parameters for
// queued send
uint32_t _queued_parameter_send_time_ms;
/// Count the number of reportable parameters.
///
@ -179,16 +193,8 @@ private:
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
// data stream rates
AP_Int16 streamRateRawSensors;
AP_Int16 streamRateExtendedStatus;
AP_Int16 streamRateRCChannels;
AP_Int16 streamRateRawController;
AP_Int16 streamRatePosition;
AP_Int16 streamRateExtra1;
AP_Int16 streamRateExtra2;
AP_Int16 streamRateExtra3;
AP_Int16 streamRateParams;
// saveable rate of each stream
AP_Int16 streamRates[NUM_STREAMS];
// number of 50Hz ticks until we next send this stream
uint8_t stream_ticks[NUM_STREAMS];

252
ArduCopter/GCS_Mavlink.pde
View File

@ -6,11 +6,6 @@
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// this costs us 51 bytes, but means that low priority
// messages don't block the CPU
static mavlink_statustext_t pending_status;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
@ -502,10 +497,11 @@ static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
static void NOINLINE send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
mavlink_msg_statustext_send(
chan,
pending_status.severity,
pending_status.text);
s->severity,
s->text);
}
// are we still delaying telemetry to try to avoid Xbee bricking?
@ -629,20 +625,12 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_param_send();
} else if (gcs3.initialised) {
gcs3.queued_param_send();
}
gcs[chan-MAVLINK_COMM_0].queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else if (gcs3.initialised) {
gcs3.queued_waypoint_send();
}
gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
break;
case MSG_STATUSTEXT:
@ -687,7 +675,7 @@ static struct mavlink_queue {
enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
uint8_t next_deferred_message;
uint8_t num_deferred_messages;
} mavlink_queue[2];
} mavlink_queue[MAVLINK_COMM_NUM_BUFFERS];
// send a message using mavlink
static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
@ -749,15 +737,13 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
if (severity == SEVERITY_LOW) {
// send via the deferred queuing system
pending_status.severity = (uint8_t)severity;
strncpy((char *)pending_status.text, str, sizeof(pending_status.text));
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
s->severity = (uint8_t)severity;
strncpy((char *)s->text, str, sizeof(s->text));
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
} else {
// send immediately
mavlink_msg_statustext_send(
chan,
severity,
str);
mavlink_msg_statustext_send(chan, severity, str);
}
}
@ -769,7 +755,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRateRawSensors, 0),
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
@ -778,7 +764,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRateExtendedStatus, 0),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
@ -787,7 +773,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRateRCChannels, 0),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
@ -796,7 +782,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRateRawController, 0),
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
@ -805,7 +791,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRatePosition, 0),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
@ -814,7 +800,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRateExtra1, 0),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
@ -823,7 +809,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRateExtra2, 0),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
@ -832,7 +818,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRateExtra3, 0),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
@ -841,7 +827,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRateParams, 0),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
AP_GROUPEND
};
@ -858,12 +844,20 @@ void
GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
{
GCS_Class::init(port);
if (port == hal.uartA) {
if (port == (AP_HAL::BetterStream*)hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;
}else{
initialised = true;
} else if (port == (AP_HAL::BetterStream*)hal.uartC) {
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
initialised = true;
#if MAVLINK_COMM_NUM_BUFFERS > 2
} else if (port == (AP_HAL::BetterStream*)hal.uartD) {
mavlink_comm_2_port = port;
chan = MAVLINK_COMM_2;
initialised = true;
#endif
}
_queued_parameter = NULL;
reset_cli_timeout();
@ -879,7 +873,8 @@ GCS_MAVLINK::update(void)
// process received bytes
uint16_t nbytes = comm_get_available(chan);
for (uint16_t i=0; i<nbytes; i++) {
for (uint16_t i=0; i<nbytes; i++)
{
uint8_t c = comm_receive_ch(chan);
#if CLI_ENABLED == ENABLED
@ -939,40 +934,19 @@ GCS_MAVLINK::update(void)
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{
uint8_t rate;
switch (stream_num) {
case STREAM_RAW_SENSORS:
rate = streamRateRawSensors.get();
break;
case STREAM_EXTENDED_STATUS:
rate = streamRateExtendedStatus.get();
break;
case STREAM_RC_CHANNELS:
rate = streamRateRCChannels.get();
break;
case STREAM_RAW_CONTROLLER:
rate = streamRateRawController.get();
break;
case STREAM_POSITION:
rate = streamRatePosition.get();
break;
case STREAM_EXTRA1:
rate = streamRateExtra1.get();
break;
case STREAM_EXTRA2:
rate = streamRateExtra2.get();
break;
case STREAM_EXTRA3:
rate = streamRateExtra3.get();
break;
case STREAM_PARAMS:
rate = streamRateParams.get();
break;
default:
rate = 0;
if (stream_num >= NUM_STREAMS) {
return false;
}
float rate = (uint8_t)streamRates[stream_num].get();
// send at a much lower rate while handling waypoints and
// parameter sends
if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) {
rate *= 0.25;
}
if (rate == 0) {
if (rate <= 0) {
return false;
}
@ -1001,14 +975,12 @@ GCS_MAVLINK::data_stream_send(void)
gcs_out_of_time = false;
if (_queued_parameter != NULL) {
if (streamRateParams.get() <= 0) {
streamRateParams.set(50);
if (streamRates[STREAM_PARAMS].get() <= 0) {
streamRates[STREAM_PARAMS].set(10);
}
if (stream_trigger(STREAM_PARAMS)) {
send_message(MSG_NEXT_PARAM);
}
// don't send anything else at the same time as parameters
return;
}
if (gcs_out_of_time) return;
@ -1102,9 +1074,10 @@ GCS_MAVLINK::send_text_P(gcs_severity severity, const prog_char_t *str)
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
struct Location tell_command = {}; // command for telemetry
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: //66
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
// decode
mavlink_request_data_stream_t packet;
@ -1125,32 +1098,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.req_stream_id) {
case MAV_DATA_STREAM_ALL:
streamRateRawSensors = freq;
streamRateExtendedStatus = freq;
streamRateRCChannels = freq;
streamRateRawController = freq;
streamRatePosition = freq;
streamRateExtra1 = freq;
streamRateExtra2 = freq;
//streamRateExtra3.set_and_save(freq); // We just do set and save on the last as it takes care of the whole group.
streamRateExtra3 = freq; // Don't save!!
// note that we don't set STREAM_PARAMS - that is internal only
for (uint8_t i=0; i<STREAM_PARAMS; i++) {
streamRates[i].set(freq);
}
break;
case MAV_DATA_STREAM_RAW_SENSORS:
streamRateRawSensors = freq; // We do not set and save this one so that if HIL is shut down incorrectly
// we will not continue to broadcast raw sensor data at 50Hz.
streamRates[STREAM_RAW_SENSORS].set(freq);
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
//streamRateExtendedStatus.set_and_save(freq);
streamRateExtendedStatus = freq;
streamRates[STREAM_EXTENDED_STATUS].set(freq);
break;
case MAV_DATA_STREAM_RC_CHANNELS:
streamRateRCChannels = freq;
streamRates[STREAM_RC_CHANNELS].set(freq);
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
streamRateRawController = freq;
streamRates[STREAM_RAW_CONTROLLER].set(freq);
break;
//case MAV_DATA_STREAM_RAW_SENSOR_FUSION:
@ -1158,22 +1121,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// break;
case MAV_DATA_STREAM_POSITION:
streamRatePosition = freq;
streamRates[STREAM_POSITION].set(freq);
break;
case MAV_DATA_STREAM_EXTRA1:
streamRateExtra1 = freq;
streamRates[STREAM_EXTRA1].set(freq);
break;
case MAV_DATA_STREAM_EXTRA2:
streamRateExtra2 = freq;
streamRates[STREAM_EXTRA2].set(freq);
break;
case MAV_DATA_STREAM_EXTRA3:
streamRateExtra3 = freq;
break;
default:
streamRates[STREAM_EXTRA3].set(freq);
break;
}
break;
@ -1281,7 +1238,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_SET_MODE: //11
case MAVLINK_MSG_ID_SET_MODE:
{
// decode
mavlink_set_mode_t packet;
@ -1459,7 +1417,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_ACK: //47
case MAVLINK_MSG_ID_MISSION_ACK:
{
// decode
mavlink_mission_ack_t packet;
@ -1471,10 +1430,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // 21
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// gcs_send_text_P(SEVERITY_LOW,PSTR("param request list"));
// decode
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
@ -1535,7 +1492,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // 45
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
// decode
mavlink_mission_clear_all_t packet;
@ -1553,7 +1510,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // 41
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// decode
mavlink_mission_set_current_t packet;
@ -1567,7 +1524,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: // 44
case MAVLINK_MSG_ID_MISSION_COUNT:
{
// decode
mavlink_mission_count_t packet;
@ -1628,7 +1585,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
// XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM: //39
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
uint8_t result = MAV_MISSION_ACCEPTED;
@ -1888,7 +1845,7 @@ mission_failed:
break;
} // end case
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: //70
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
@ -2102,9 +2059,23 @@ GCS_MAVLINK::_count_parameters()
void
GCS_MAVLINK::queued_param_send()
{
// Check to see if we are sending parameters
if (NULL == _queued_parameter) return;
if (!initialised || _queued_parameter == NULL) {
return;
}
uint16_t bytes_allowed;
uint8_t count;
uint32_t tnow = millis();
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
while (_queued_parameter != NULL && count--) {
AP_Param *vp;
float value;
@ -2128,6 +2099,8 @@ GCS_MAVLINK::queued_param_send()
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
}
_queued_parameter_send_time_ms = tnow;
}
/**
* queued_waypoint_send - Send the next pending waypoint, called from deferred message
@ -2159,8 +2132,7 @@ void GCS_MAVLINK::reset_cli_timeout() {
static void mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs0.initialised) return;
if (!gcs[0].initialised) return;
in_mavlink_delay = true;
@ -2191,9 +2163,10 @@ static void mavlink_delay_cb()
*/
static void gcs_send_message(enum ap_message id)
{
gcs0.send_message(id);
if (gcs3.initialised) {
gcs3.send_message(id);
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_message(id);
}
}
}
@ -2202,9 +2175,10 @@ static void gcs_send_message(enum ap_message id)
*/
static void gcs_data_stream_send(void)
{
gcs0.data_stream_send();
if (gcs3.initialised) {
gcs3.data_stream_send();
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].data_stream_send();
}
}
}
@ -2213,18 +2187,23 @@ static void gcs_data_stream_send(void)
*/
static void gcs_check_input(void)
{
gcs0.update();
if (gcs3.initialised) {
gcs3.update();
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].update();
}
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
gcs0.send_text_P(severity, str);
if (gcs3.initialised) {
gcs3.send_text_P(severity, str);
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_text_P(severity, str);
}
}
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message_P(str);
#endif
}
/*
@ -2232,17 +2211,22 @@ static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
void gcs_send_text_fmt(const prog_char_t *fmt, ...)
{
va_list arg_list;
pending_status.severity = (uint8_t)SEVERITY_LOW;
gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
va_start(arg_list, fmt);
hal.util->vsnprintf_P((char *)pending_status.text,
sizeof(pending_status.text), fmt, arg_list);
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);
va_end(arg_list);
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message(gcs[0].pending_status.text);
#endif
mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
if (gcs3.initialised) {
mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);
for (uint8_t i=1; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].pending_status = gcs[0].pending_status;
mavlink_send_message((mavlink_channel_t)i, MSG_STATUSTEXT, 0);
}
}
}

3
ArduCopter/Parameters.h
View File

@ -134,11 +134,12 @@ public:
// 110: Telemetry control
//
k_param_gcs0 = 110,
k_param_gcs3,
k_param_gcs1,
k_param_sysid_this_mav,
k_param_sysid_my_gcs,
k_param_serial3_baud,
k_param_telem_delay,
k_param_gcs2,
//
// 140: Sensor parameters

13
ArduCopter/Parameters.pde
View File

@ -22,6 +22,7 @@
#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, &v, {group_info : class::var_info} }
const AP_Param::Info var_info[] PROGMEM = {
// @Param: SYSID_SW_MREV
@ -998,11 +999,17 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: SR0_
// @Path: GCS_Mavlink.pde
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(gcs[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR3_
// @Group: SR1_
// @Path: GCS_Mavlink.pde
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(gcs[1], gcs1, "SR1_", GCS_MAVLINK),
#if MAVLINK_COMM_NUM_BUFFERS > 2
// @Group: SR2_
// @Path: GCS_Mavlink.pde
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
#endif
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

3
ArduCopter/motors.pde
View File

@ -141,8 +141,9 @@ static void init_arm_motors()
// mid-flight, so set the serial ports non-blocking once we arm
// the motors
hal.uartA->set_blocking_writes(false);
if (gcs3.initialised) {
hal.uartC->set_blocking_writes(false);
if (hal.uartD != NULL) {
hal.uartD->set_blocking_writes(false);
}
#if COPTER_LEDS == ENABLED

15
ArduCopter/system.pde
View File

@ -134,7 +134,7 @@ static void init_ardupilot()
#endif
// init the GCS
gcs0.init(hal.uartA);
gcs[0].init(hal.uartA);
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
@ -151,8 +151,12 @@ static void init_ardupilot()
// APM2. We actually do have one on APM2 but it isn't necessary as
// a MUX is used
hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
gcs3.init(hal.uartC);
gcs[1].init(hal.uartC);
#endif
if (hal.uartD != NULL) {
hal.uartD->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
gcs[2].init(hal.uartD);
}
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
@ -166,7 +170,7 @@ static void init_ardupilot()
} else if (DataFlash.NeedErase()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
do_erase_logs();
gcs0.reset_cli_timeout();
gcs[0].reset_cli_timeout();
}
#endif
@ -209,9 +213,12 @@ static void init_ardupilot()
#if CLI_ENABLED == ENABLED
const prog_char_t *msg = PSTR("\nPress ENTER 3 times to start interactive setup\n");
cliSerial->println_P(msg);
if (gcs3.initialised) {
if (gcs[1].initialised) {
hal.uartC->println_P(msg);
}
if (num_gcs > 2 && gcs[2].initialised) {
hal.uartD->println_P(msg);
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED