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GCS_MAVLink: move try_send_message compass message handling up

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This commit is contained in:
Peter Barker 2017-07-18 09:53:41 +10:00 committed by Francisco Ferreira
parent 4b63443633
commit b8cb758fac
2 changed files with 59 additions and 3 deletions
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9
libraries/GCS_MAVLink/GCS.h
View File

@ -284,6 +284,12 @@ protected:
MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet);
MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
// vehicle-overridable message send function
virtual bool try_send_message(enum ap_message id);
// message sending functions:
bool try_send_compass_message(enum ap_message id);
private:
float adjust_rate_for_stream_trigger(enum streams stream_num);
@ -399,9 +405,6 @@ private:
// a vehicle can optionally snoop on messages for other systems
static void (*msg_snoop)(const mavlink_message_t* msg);
// vehicle specific message send function
virtual bool try_send_message(enum ap_message id) = 0;
virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
void handle_common_mission_message(mavlink_message_t *msg);

53
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2031,6 +2031,59 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
return result;
}
bool GCS_MAVLINK::try_send_compass_message(const enum ap_message id)
{
Compass *compass = get_compass();
if (compass == nullptr) {
return true;
}
bool ret = true;
switch (id) {
case MSG_MAG_CAL_PROGRESS:
compass->send_mag_cal_progress(chan);
ret = true;;
break;
case MSG_MAG_CAL_REPORT:
compass->send_mag_cal_report(chan);
ret = true;
break;
default:
ret = true;
break;
}
return ret;
}
bool GCS_MAVLINK::try_send_message(const enum ap_message id)
{
if (telemetry_delayed()) {
return false;
}
bool ret = true;
switch(id) {
case MSG_MAG_CAL_PROGRESS:
/* fall through */
case MSG_MAG_CAL_REPORT:
ret = try_send_compass_message(id);
break;
default:
// try_send_message must always at some stage return true for
// a message, or we will attempt to infinitely retry the
// message as part of send_message.
// This message will be sent out at the same rate as the
// unknown message, so should be safe.
gcs().send_text(MAV_SEVERITY_DEBUG, "Sending unknown message (%u)", id);
ret = true;
break;
}
return ret;
}
GCS &gcs()
{
return *GCS::instance();