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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2658 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-24 04:41:48 +00:00
parent d2ce6ebf8d
commit bc13dac119
1 changed files with 31 additions and 23 deletions
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12
ArduCopterMega/planner.pde
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@ -18,30 +18,38 @@ MENU(planner_menu, "planner", planner_menu_commands);
int8_t int8_t
planner_mode(uint8_t argc, const Menu::arg *argv) planner_mode(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("Planner Mode\n\nThis mode is not intended for manual use\n\n")); Serial.printf_P(PSTR("Planner Mode\n\Not intended for manual use\n\n"));
planner_menu.run(); planner_menu.run();
return 0; return (0);
} }
static int8_t static int8_t
planner_gcs(uint8_t argc, const Menu::arg *argv) planner_gcs(uint8_t argc, const Menu::arg *argv)
{ {
gcs.init(&Serial); gcs.init(&Serial);
int loopcount = 0; int loopcount = 0;
while (1) { while (1) {
if (millis()-fast_loopTimer > 19) { if (millis()-fast_loopTimer > 19) {
fast_loopTimer = millis(); fast_loopTimer = millis();
gcs.update(); gcs.update();
#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
gcs.data_stream_send(45, 1000); gcs.data_stream_send(45, 1000);
if ((loopcount % 5) == 0) // 10 hz if ((loopcount % 5) == 0) // 10 hz
gcs.data_stream_send(5, 45); gcs.data_stream_send(5, 45);
if ((loopcount % 16) == 0) { // 3 hz if ((loopcount % 16) == 0) { // 3 hz
gcs.data_stream_send(1, 5); gcs.data_stream_send(1, 5);
gcs.send_message(MSG_HEARTBEAT); gcs.send_message(MSG_HEARTBEAT);
} }
#endif #endif
loopcount++; loopcount++;
} }
} }