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GCS_MAVLink: added save parameter to handle_request_data_stream()

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this allows copter to not save stream rate changes
This commit is contained in:
Andrew Tridgell 2014-03-19 09:01:51 +11:00 committed by Randy Mackay
parent 79bb14b8c1
commit b85c5123b2
2 changed files with 30 additions and 11 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -296,7 +296,7 @@ private:
void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg);
void handle_request_data_stream(mavlink_message_t *msg);
void handle_request_data_stream(mavlink_message_t *msg, bool save);
void handle_param_request_list(mavlink_message_t *msg);
void handle_param_request_read(mavlink_message_t *msg);
void handle_param_set(mavlink_message_t *msg, DataFlash_Class &DataFlash);

37
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -388,7 +388,13 @@ bool GCS_MAVLINK::have_flow_control(void)
}
void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg)
/*
handle a request to change stream rate. Note that copter passes in
save==false, as sending mavlink messages on copter on APM2 costs
enough that it can cause flight issues, so we don't want the save to
happen when the user connects the ground station.
*/
void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
{
mavlink_request_data_stream_t packet;
mavlink_msg_request_data_stream_decode(msg, &packet);
@ -405,38 +411,51 @@ void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg)
else
return;
AP_Int16 *rate = NULL;
switch (packet.req_stream_id) {
case MAV_DATA_STREAM_ALL:
// note that we don't set STREAM_PARAMS - that is internal only
for (uint8_t i=0; i<STREAM_PARAMS; i++) {
if (save) {
streamRates[i].set_and_save_ifchanged(freq);
} else {
streamRates[i].set(freq);
}
}
break;
case MAV_DATA_STREAM_RAW_SENSORS:
streamRates[STREAM_RAW_SENSORS].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_RAW_SENSORS];
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
streamRates[STREAM_EXTENDED_STATUS].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_EXTENDED_STATUS];
break;
case MAV_DATA_STREAM_RC_CHANNELS:
streamRates[STREAM_RC_CHANNELS].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_RC_CHANNELS];
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
streamRates[STREAM_RAW_CONTROLLER].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_RAW_CONTROLLER];
break;
case MAV_DATA_STREAM_POSITION:
streamRates[STREAM_POSITION].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_POSITION];
break;
case MAV_DATA_STREAM_EXTRA1:
streamRates[STREAM_EXTRA1].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_EXTRA1];
break;
case MAV_DATA_STREAM_EXTRA2:
streamRates[STREAM_EXTRA2].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_EXTRA2];
break;
case MAV_DATA_STREAM_EXTRA3:
streamRates[STREAM_EXTRA3].set_and_save_ifchanged(freq);
rate = &streamRates[STREAM_EXTRA3];
break;
}
if (rate != NULL) {
if (save) {
rate->set_and_save_ifchanged(freq);
} else {
rate->set(freq);
}
}
}
void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)