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Tracker: move data stream send up

This commit is contained in:
Peter Barker 2017-08-21 16:09:04 +10:00 committed by Andrew Tridgell
parent 5674a68457
commit b46379b3f3
2 changed files with 44 additions and 53 deletions
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95
AntennaTracker/GCS_Mavlink.cpp
View File

@ -315,58 +315,51 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
AP_GROUPEND
};
void
GCS_MAVLINK_Tracker::data_stream_send(void)
{
send_queued_parameters();
static const uint8_t STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU1, // RAW_IMU, SCALED_IMU2, SCALED_IMU3
MSG_RAW_IMU2, // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
MSG_RAW_IMU3 // SENSOR_OFFSETS
};
static const uint8_t STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_EXTENDED_STATUS2, // MEMINFO
MSG_NAV_CONTROLLER_OUTPUT,
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
};
static const uint8_t STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const uint8_t STREAM_RAW_CONTROLLER_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
};
static const uint8_t STREAM_RC_CHANNELS_msgs[] = {
MSG_RADIO_IN
};
static const uint8_t STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
};
static const uint8_t STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_HWSTATUS,
MSG_SIMSTATE, // SIMSTATE, AHRS2
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
};
if (hal.scheduler->in_delay_callback()) {
// don't send any other stream types while in the delay callback
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU2);
send_message(MSG_RAW_IMU3);
}
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_NAV_CONTROLLER_OUTPUT);
send_message(MSG_GPS_RAW);
send_message(MSG_GPS_RTK);
send_message(MSG_GPS2_RAW);
send_message(MSG_GPS2_RTK);
}
if (stream_trigger(STREAM_POSITION)) {
send_message(MSG_LOCATION);
send_message(MSG_LOCAL_POSITION);
}
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUTPUT_RAW);
}
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_IN);
send_message(MSG_SERVO_OUTPUT_RAW);
}
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
}
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_SIMSTATE);
send_message(MSG_MAG_CAL_REPORT);
send_message(MSG_MAG_CAL_PROGRESS);
}
}
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
/*
We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and

2
AntennaTracker/GCS_Mavlink.h
View File

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