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GCS_MAVLink: remove mavlink-specific methods from AP_SerialManager

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This commit is contained in:
Peter Barker 2022-07-11 17:57:40 +10:00 committed by Andrew Tridgell
parent b958c3db70
commit ba2b7b8014
2 changed files with 20 additions and 12 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -636,6 +636,8 @@ protected:
private: private:
const AP_SerialManager::UARTState *uartstate;
// last time we got a non-zero RSSI from RADIO_STATUS // last time we got a non-zero RSSI from RADIO_STATUS
static struct LastRadioStatus { static struct LastRadioStatus {
uint32_t remrssi_ms; uint32_t remrssi_ms;

30
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -113,20 +113,25 @@ GCS_MAVLINK::GCS_MAVLINK(GCS_MAVLINK_Parameters &parameters,
bool GCS_MAVLINK::init(uint8_t instance) bool GCS_MAVLINK::init(uint8_t instance)
{ {
// search for serial port
const AP_SerialManager& serial_manager = AP::serialmanager();
const AP_SerialManager::SerialProtocol protocol = AP_SerialManager::SerialProtocol_MAVLink;
// get associated mavlink channel // get associated mavlink channel
chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance); chan = (mavlink_channel_t)(MAVLINK_COMM_0 + instance);
if (!valid_channel(chan)) { if (!valid_channel(chan)) {
return false; return false;
} }
// find instance of MAVLink protocol; the protocol_match method in
// AP_SerialManager means this will match MAVLink2 and MAVLinkHL,
// too:
uartstate = AP::serialmanager().find_protocol_instance(AP_SerialManager::SerialProtocol_MAVLink, instance);
if (uartstate == nullptr) {
return false;
}
// and init the gcs instance // and init the gcs instance
if (!serial_manager.should_forward_mavlink_telemetry(protocol, instance)) { // whether this port is considered "private" is stored on the uart
// rather than in our own parameters:
if (uartstate->option_enabled(AP_HAL::UARTDriver::OPTION_MAVLINK_NO_FORWARD)) {
set_channel_private(chan); set_channel_private(chan);
} }
@ -152,11 +157,11 @@ bool GCS_MAVLINK::init(uint8_t instance)
_port->set_flow_control(old_flow_control); _port->set_flow_control(old_flow_control);
// now change back to desired baudrate // now change back to desired baudrate
_port->begin(serial_manager.find_baudrate(protocol, instance)); _port->begin(uartstate->baudrate());
mavlink_comm_port[chan] = _port; mavlink_comm_port[chan] = _port;
AP_SerialManager::SerialProtocol mavlink_protocol = serial_manager.get_mavlink_protocol(chan); const auto mavlink_protocol = uartstate->get_protocol();
mavlink_status_t *status = mavlink_get_channel_status(chan); mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status == nullptr) { if (status == nullptr) {
return false; return false;
@ -166,7 +171,7 @@ bool GCS_MAVLINK::init(uint8_t instance)
mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) { mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) {
// load signing key // load signing key
load_signing_key(); load_signing_key();
} else if (status) { } else {
// user has asked to only send MAVLink1 // user has asked to only send MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1; status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
} }
@ -1470,10 +1475,11 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) { if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0)); mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
} }
const auto mavlink_protocol = uartstate->get_protocol();
if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) &&
(status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && (status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) &&
(AP::serialmanager().get_mavlink_protocol(chan) == AP_SerialManager::SerialProtocol_MAVLink2 || (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2 ||
AP::serialmanager().get_mavlink_protocol(chan) == AP_SerialManager::SerialProtocol_MAVLinkHL)) { mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL)) {
// if we receive any MAVLink2 packets on a connection // if we receive any MAVLink2 packets on a connection
// currently sending MAVLink1 then switch to sending // currently sending MAVLink1 then switch to sending
// MAVLink2 // MAVLink2
@ -6084,7 +6090,7 @@ uint64_t GCS_MAVLINK::capabilities() const
uint64_t ret = MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | uint64_t ret = MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION; MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION;
AP_SerialManager::SerialProtocol mavlink_protocol = AP::serialmanager().get_mavlink_protocol(chan); const auto mavlink_protocol = uartstate->get_protocol();
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2 || mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) { if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2 || mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLinkHL) {
ret |= MAV_PROTOCOL_CAPABILITY_MAVLINK2; ret |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
} }