Tracker: avoid allocate a GCS_MAVLINK per mavlink channel

AntennaTracker/GCS_Mavlink.cpp

@@ -145,7 +145,7 @@ void GCS_MAVLINK_Tracker::handle_change_alt_request(AP_Mission::Mission_Command&
 /*
   default stream rates to 1Hz
  */
-const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
+const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
     // @Param: RAW_SENS
     // @DisplayName: Raw sensor stream rate
     // @Description: Raw sensor stream rate to ground station
@@ -153,7 +153,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0],  1),
+    AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0],  1),
 
     // @Param: EXT_STAT
     // @DisplayName: Extended status stream rate to ground station
@@ -162,7 +162,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1],  1),
+    AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1],  1),
 
     // @Param: RC_CHAN
     // @DisplayName: RC Channel stream rate to ground station
@@ -171,7 +171,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("RC_CHAN",  2, GCS_MAVLINK, streamRates[2],  1),
+    AP_GROUPINFO("RC_CHAN",  2, GCS_MAVLINK_Parameters, streamRates[2],  1),
 
     // @Param: RAW_CTRL
     // @DisplayName: Raw Control stream rate to ground station
@@ -180,7 +180,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3],  1),
+    AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3],  1),
 
     // @Param: POSITION
     // @DisplayName: Position stream rate to ground station
@@ -189,7 +189,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4],  1),
+    AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4],  1),
 
     // @Param: EXTRA1
     // @DisplayName: Extra data type 1 stream rate to ground station
@@ -198,7 +198,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA1",   5, GCS_MAVLINK, streamRates[5],  1),
+    AP_GROUPINFO("EXTRA1",   5, GCS_MAVLINK_Parameters, streamRates[5],  1),
 
     // @Param: EXTRA2
     // @DisplayName: Extra data type 2 stream rate to ground station
@@ -207,7 +207,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA2",   6, GCS_MAVLINK, streamRates[6],  1),
+    AP_GROUPINFO("EXTRA2",   6, GCS_MAVLINK_Parameters, streamRates[6],  1),
 
     // @Param: EXTRA3
     // @DisplayName: Extra data type 3 stream rate to ground station
@@ -216,7 +216,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("EXTRA3",   7, GCS_MAVLINK, streamRates[7],  1),
+    AP_GROUPINFO("EXTRA3",   7, GCS_MAVLINK_Parameters, streamRates[7],  1),
 
     // @Param: PARAMS
     // @DisplayName: Parameter stream rate to ground station
@@ -225,7 +225,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
     // @Range: 0 10
     // @Increment: 1
     // @User: Advanced
-    AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK, streamRates[8],  10),
+    AP_GROUPINFO("PARAMS",   8, GCS_MAVLINK_Parameters, streamRates[8],  10),
     AP_GROUPEND
 };
 
@@ -585,9 +585,6 @@ uint64_t GCS_MAVLINK_Tracker::capabilities() const
 void Tracker::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs().chan(0).initialised) {
-        return;
-    }
 
     logger.EnableWrites(false);
 

AntennaTracker/GCS_Mavlink.h

@@ -7,6 +7,8 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 
 public:
 
+    using GCS_MAVLINK::GCS_MAVLINK;
+
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus

AntennaTracker/GCS_Tracker.cpp

@@ -4,7 +4,6 @@
 void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
 {
     for (uint8_t i=0; i < num_gcs(); i++) {
-        if (gcs().chan(i).initialised) {
             // request position
             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
                 mavlink_msg_request_data_stream_send(
@@ -17,12 +16,10 @@ void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t
             }
     }
 }
-}
 
 void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
 {
     for (uint8_t i=0; i < num_gcs(); i++) {
-        if (gcs().chan(i).initialised) {
             // request air pressure
             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
                 mavlink_msg_request_data_stream_send(
@@ -35,7 +32,6 @@ void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint
             }
     }
 }
-}
 
 // update sensors and subsystems present, enabled and healthy flags for reporting to GCS
 void GCS_Tracker::update_vehicle_sensor_status_flags()

AntennaTracker/GCS_Tracker.h

@@ -10,23 +10,20 @@ class GCS_Tracker : public GCS
 
 public:
 
-    // return the number of valid GCS objects
-    uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
-
     // return GCS link at offset ofs
-    GCS_MAVLINK_Tracker &chan(uint8_t ofs) override {
+    GCS_MAVLINK_Tracker *chan(const uint8_t ofs) override {
-        if (ofs >= num_gcs()) {
+        if (ofs > _num_gcs) {
             AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
-            ofs = 0;
+            return nullptr;
         }
-        return _chan[ofs];
+        return (GCS_MAVLINK_Tracker*)_chan[ofs];
     }
-    const GCS_MAVLINK_Tracker &chan(uint8_t ofs) const override {
+    const GCS_MAVLINK_Tracker *chan(const uint8_t ofs) const override {
-        if (ofs >= num_gcs()) {
+        if (ofs > _num_gcs) {
             AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
-            ofs = 0;
+            return nullptr;
         }
-        return _chan[ofs];
+        return (GCS_MAVLINK_Tracker*)_chan[ofs];
     }
 
     void update_vehicle_sensor_status_flags() override;
@@ -34,11 +31,16 @@ public:
     uint32_t custom_mode() const override;
     MAV_TYPE frame_type() const override;
 
+protected:
+
+    GCS_MAVLINK_Tracker *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
+                                                 AP_HAL::UARTDriver &uart) override {
+        return new GCS_MAVLINK_Tracker(params, uart);
+    }
+
 private:
 
     void request_datastream_position(uint8_t sysid, uint8_t compid);
     void request_datastream_airpressure(uint8_t sysid, uint8_t compid);
 
-    GCS_MAVLINK_Tracker _chan[MAVLINK_COMM_NUM_BUFFERS];
-
 };

AntennaTracker/Parameters.cpp

@@ -229,19 +229,19 @@ const AP_Param::Info Tracker::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs().chan(0), gcs0,        "SR0_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[0], gcs0,        "SR0_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs().chan(1),  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs().chan(2),  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs().chan(3),  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
 
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask

AntennaTracker/system.cpp

@@ -29,7 +29,7 @@ void Tracker::init_tracker()
     serial_manager.init();
 
     // setup first port early to allow BoardConfig to report errors
-    gcs().chan(0).setup_uart(0);
+    gcs().setup_console();
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay