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implement mavlink messages

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1793 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mich146@hotmail.com 2011-03-20 12:55:51 +00:00
parent 783656b574
commit bb285a248b
1 changed files with 13 additions and 2 deletions
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15
ArduCopterMega/ArduCopterMega.pde
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@ -459,6 +459,7 @@ void loop()
counter_one_herz++;
if(counter_one_herz == 50){
super_slow_loop();
counter_one_herz = 0;
}
if (millis() - perf_mon_timer > 20000) {
@ -618,7 +619,14 @@ void medium_loop()
}
}
gcs.send_message(MSG_ATTITUDE); // Sends attitude data
// XXX this should be a "GCS medium loop" interface
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(5,45);
// send all requested output streams with rates requested
// between 5 and 45 Hz
#else
gcs.send_message(MSG_ATTITUDE); // Sends attitude data
#endif
break;
// This case controls the slow loop
@ -676,6 +684,9 @@ void medium_loop()
// kick the GCS to process uplink data
gcs.update();
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(45,1000);
#endif
}
void slow_loop()
@ -1151,4 +1162,4 @@ void update_alt()
// Amount of throttle to apply for hovering
// ----------------------------------------
calc_nav_throttle();
}
}