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GCS_MAVLink: move sending of RPM message up

This commit is contained in:
Peter Barker 2019-03-02 09:38:12 +11:00 committed by Randy Mackay
parent 8d6748dc4f
commit bb1ae30594
2 changed files with 22 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -233,6 +233,7 @@ public:
void send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag));
void send_sys_status();
void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
void send_rpm() const;
// return a bitmap of active channels. Used by libraries to loop
// over active channels to send to all active channels

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3817,6 +3817,22 @@ void GCS_MAVLINK::send_hwstatus()
0);
}
void GCS_MAVLINK::send_rpm() const
{
AP_RPM *rpm = AP::rpm();
if (rpm == nullptr) {
return;
}
if (!rpm->enabled(0) && !rpm->enabled(1)) {
return;
}
mavlink_msg_rpm_send(
chan,
rpm->get_rpm(0),
rpm->get_rpm(1));
}
void GCS_MAVLINK::send_sys_status()
{
@ -4000,6 +4016,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_gps_global_origin();
break;
case MSG_RPM:
CHECK_PAYLOAD_SIZE(RPM);
send_rpm();
break;
case MSG_CURRENT_WAYPOINT:
case MSG_MISSION_ITEM_REACHED:
case MSG_NEXT_MISSION_REQUEST: