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AP_Frsky_Telem: simplify init by assuming everything is nullptr

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- also always queue the firmware message regardless of protocol type
This commit is contained in:
Tom Pittenger 2016-09-25 09:25:00 -07:00
parent 6991ca53b3
commit b3d5375aa0
1 changed files with 19 additions and 19 deletions
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38
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -42,27 +42,21 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
// add firmware and frame info to message queue
queue_message(MAV_SEVERITY_INFO, firmware_str);
// save main parameters locally
_params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
if (fs_batt_voltage != nullptr) {
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
}
if (fs_batt_mah != nullptr) {
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
}
if (ap_value != nullptr) {
_ap.value = ap_value; // ap bit-field
} else {
*_ap.value = 0;
}
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
_ap.value = ap_value; // ap bit-field
}
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
// add firmware and frame info to message queue
queue_message(MAV_SEVERITY_INFO, firmware_str);
}
}
@ -536,10 +530,14 @@ uint32_t AP_Frsky_Telem::calc_param(void)
param = _params.mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
break;
case 2:
param = (uint32_t)roundf(*_params.fs_batt_voltage * 100.0f); // battery failsafe voltage in centivolts
if (_params.fs_batt_voltage != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_voltage * 100.0f); // battery failsafe voltage in centivolts
}
break;
case 3:
param = (uint32_t)roundf(*_params.fs_batt_mah); // battery failsafe capacity in mAh
if (_params.fs_batt_mah != nullptr) {
param = (uint32_t)roundf(*_params.fs_batt_mah); // battery failsafe capacity in mAh
}
break;
case 4:
param = (uint32_t)roundf(_battery.pack_capacity_mah()); // battery pack capacity in mAh as configured by user
@ -628,10 +626,12 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
// control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
ap_status = (uint8_t)((_ap.control_mode+1) & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.value & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag
ap_status |= (uint8_t)((*_ap.value & AP_ISFLYING_FLAG) ^ AP_ISFLYING_FLAG);
if (_ap.value != nullptr) {
// simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.value & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// is_flying flag
ap_status |= (uint8_t)((*_ap.value & AP_ISFLYING_FLAG) ^ AP_ISFLYING_FLAG);
}
// armed flag
ap_status |= (uint8_t)(AP_Notify::flags.armed)<<AP_ARMED_OFFSET;
// battery failsafe flag