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GCS_MAVLink: move FRsky telemetry up into common GCS telemetry class

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This commit is contained in:
Peter Barker 2019-02-12 22:54:24 +11:00 committed by Peter Barker
parent 6b4733c9f0
commit ab1c42696c
4 changed files with 13 additions and 24 deletions
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20
libraries/GCS_MAVLink/GCS.h
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@ -304,9 +304,7 @@ protected:
virtual bool set_mode(uint8_t mode) = 0;
void set_ekf_origin(const Location& loc);
virtual MAV_TYPE frame_type() const = 0;
virtual MAV_MODE base_mode() const = 0;
virtual uint32_t custom_mode() const = 0;
virtual MAV_STATE system_status() const = 0;
virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
@ -602,9 +600,6 @@ private:
// mavlink routing object
static MAVLink_routing routing;
// pointer to static frsky_telem for queueing of text messages
static AP_Frsky_Telem *frsky_telemetry_p;
static const AP_SerialManager *serialmanager_p;
struct pending_param_request {
@ -738,6 +733,9 @@ public:
return _singleton;
}
virtual uint32_t custom_mode() const = 0;
virtual MAV_TYPE frame_type() const = 0;
void send_text(MAV_SEVERITY severity, const char *fmt, ...);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
@ -764,17 +762,9 @@ public:
_out_of_time = val;
}
/*
set a frsky_telem pointer for queueing
*/
void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
frsky_telemetry_p = frsky_telemetry;
}
// frsky backend
AP_Frsky_Telem frsky;
// static frsky_telem pointer to support queueing text messages
AP_Frsky_Telem *frsky_telemetry_p;
// install an alternative protocol handler
bool install_alternative_protocol(mavlink_channel_t chan, GCS_MAVLINK::protocol_handler_fn_t handler);

10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1892,9 +1892,7 @@ void GCS::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const cha
}
// add statustext message to FrSky lib queue
if (frsky_telemetry_p != NULL) {
frsky_telemetry_p->queue_message(severity, text);
}
frsky.queue_message(severity, text);
AP_Notify *notify = AP_Notify::get_singleton();
if (notify) {
@ -2017,6 +2015,8 @@ void GCS::setup_uarts(AP_SerialManager &serial_manager)
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
chan(i).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
frsky.init();
}
// report battery2 state
@ -2271,10 +2271,10 @@ void GCS_MAVLINK::send_heartbeat() const
{
mavlink_msg_heartbeat_send(
chan,
frame_type(),
gcs().frame_type(),
MAV_AUTOPILOT_ARDUPILOTMEGA,
base_mode(),
custom_mode(),
gcs().custom_mode(),
system_status());
}

5
libraries/GCS_MAVLink/GCS_Dummy.h
View File

@ -28,9 +28,7 @@ protected:
bool set_mode(uint8_t mode) override { return false; };
// dummy information:
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
bool set_home_to_current_location(bool lock) override { return false; }
@ -56,4 +54,7 @@ class GCS_Dummy : public GCS
void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
void update_sensor_status_flags(void) override {};
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
uint32_t custom_mode() const override { return 3; } // magic number
};

2
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -34,9 +34,7 @@ protected:
bool set_mode(uint8_t mode) override { return false; };
// dummy information:
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void send_nav_controller_output() const override {};
void send_pid_tuning() override {};