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Copter: subclass GCS_MAVLink in place of defining its functions for it

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This commit is contained in:
Peter Barker 2016-05-27 22:59:22 +10:00 committed by Andrew Tridgell
parent af5a52e2aa
commit bb19c57615
3 changed files with 34 additions and 9 deletions
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7
ArduCopter/Copter.h
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@ -37,7 +37,6 @@
// Application dependencies // Application dependencies
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library #include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library #include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
#include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library #include <DataFlash/DataFlash.h> // ArduPilot Mega Flash Memory Library
@ -94,6 +93,8 @@
#include "defines.h" #include "defines.h"
#include "config.h" #include "config.h"
#include "GCS_Mavlink.h"
// libraries which are dependent on #defines in defines.h and/or config.h // libraries which are dependent on #defines in defines.h and/or config.h
#if SPRAYER == ENABLED #if SPRAYER == ENABLED
#include <AC_Sprayer/AC_Sprayer.h> // crop sprayer library #include <AC_Sprayer/AC_Sprayer.h> // crop sprayer library
@ -118,7 +119,7 @@
class Copter : public AP_HAL::HAL::Callbacks { class Copter : public AP_HAL::HAL::Callbacks {
public: public:
friend class GCS_MAVLINK; friend class GCS_MAVLINK_Copter;
friend class Parameters; friend class Parameters;
Copter(void); Copter(void);
@ -210,7 +211,7 @@ private:
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS; static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS]; GCS_MAVLINK_Copter gcs[MAVLINK_COMM_NUM_BUFFERS];
// User variables // User variables
#ifdef USERHOOK_VARIABLES #ifdef USERHOOK_VARIABLES

14
ArduCopter/GCS_Mavlink.cpp
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@ -3,6 +3,8 @@
#include "Copter.h" #include "Copter.h"
#include "version.h" #include "version.h"
#include "GCS_Mavlink.h"
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control // default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS) #define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
@ -515,7 +517,7 @@ bool Copter::telemetry_delayed(mavlink_channel_t chan)
// try to send a message, return false if it won't fit in the serial tx buffer // try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK::try_send_message(enum ap_message id) bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{ {
if (copter.telemetry_delayed(chan)) { if (copter.telemetry_delayed(chan)) {
return false; return false;
@ -840,7 +842,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num) float GCS_MAVLINK_Copter::adjust_rate_for_stream_trigger(enum streams stream_num)
{ {
if ((stream_num != STREAM_PARAMS) && if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) { (waypoint_receiving || _queued_parameter != NULL)) {
@ -850,7 +852,7 @@ float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)
} }
void void
GCS_MAVLINK::data_stream_send(void) GCS_MAVLINK_Copter::data_stream_send(void)
{ {
if (waypoint_receiving) { if (waypoint_receiving) {
// don't interfere with mission transfer // don't interfere with mission transfer
@ -955,12 +957,12 @@ GCS_MAVLINK::data_stream_send(void)
} }
bool GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd) bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{ {
return copter.do_guided(cmd); return copter.do_guided(cmd);
} }
void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd) void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{ {
// add home alt if needed // add home alt if needed
if (cmd.content.location.flags.relative_alt) { if (cmd.content.location.flags.relative_alt) {
@ -970,7 +972,7 @@ void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode // To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
} }
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
{ {
uint8_t result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required uint8_t result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required

22
ArduCopter/GCS_Mavlink.h Normal file
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@ -0,0 +1,22 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
class GCS_MAVLINK_Copter : public GCS_MAVLINK
{
public:
void data_stream_send(void) override;
protected:
private:
float adjust_rate_for_stream_trigger(enum streams stream_num) override;
void handleMessage(mavlink_message_t * msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
};