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GCS_MAVLink: flag a link as active if it ever sends a message

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This commit is contained in:
Tom Pittenger 2016-06-13 13:36:34 -07:00
parent 773962940c
commit b4b0ec404c
2 changed files with 22 additions and 2 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -350,6 +350,9 @@ private:
// bitmask of what mavlink channels are active
static uint8_t mavlink_active;
// bitmask of what mavlink channels are streaming
static uint8_t chan_is_streaming;
// mavlink routing object
static MAVLink_routing routing;

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -28,6 +28,7 @@ extern const AP_HAL::HAL& hal;
uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
uint8_t GCS_MAVLINK::mavlink_active = 0;
uint8_t GCS_MAVLINK::chan_is_streaming = 0;
ObjectArray<GCS_MAVLINK::statustext_t> GCS_MAVLINK::_statustext_queue(GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY);
uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
@ -673,7 +674,23 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
rate *= adjust_rate_for_stream_trigger(stream_num);
if (rate <= 0) {
if (chan_is_streaming | (1U<<(chan-MAVLINK_COMM_0))) {
// if currently streaming then check if all streams are disabled
// to allow runtime detection of user disabling streaming
bool is_streaming = false;
for (uint8_t i=0; i<stream_num; i++) {
if (streamRates[stream_num] > 0) {
is_streaming = true;
}
}
if (!is_streaming) {
// all streams have been turned off, clear the bit flag
chan_is_streaming &= ~(1U<<(chan-MAVLINK_COMM_0));
}
}
return false;
} else {
chan_is_streaming |= (1U<<(chan-MAVLINK_COMM_0));
}
if (stream_ticks[stream_num] == 0) {
@ -1278,7 +1295,7 @@ void GCS_MAVLINK::send_statustext_all(MAV_SEVERITY severity, const char *fmt, ..
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
va_end(arg_list);
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
send_statustext(severity, mavlink_active, text);
send_statustext(severity, mavlink_active | chan_is_streaming, text);
}
/*
@ -1306,7 +1323,7 @@ void GCS_MAVLINK::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, c
// filter destination ports to only allow active ports.
statustext_t statustext{};
statustext.bitmask = mavlink_active & dest_bitmask;
statustext.bitmask = (mavlink_active | chan_is_streaming) & dest_bitmask;
if (!statustext.bitmask) {
// nowhere to send
return;