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Copter: send extended status to GCS only after initialisation

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This commit is contained in:
Randy Mackay 2014-09-09 22:17:46 +09:00
parent 2f2665c022
commit bf18fb896a
3 changed files with 12 additions and 4 deletions
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1
ArduCopter/ArduCopter.pde
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@ -388,6 +388,7 @@ static union {
uint8_t rc_receiver_present : 1; // 14 // true if we have an rc receiver present (i.e. if we've ever received an update uint8_t rc_receiver_present : 1; // 14 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1; // 15 // true if we are currently performing compassmot calibration uint8_t compass_mot : 1; // 15 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // 16 // true if we are currently performing the motors test uint8_t motor_test : 1; // 16 // true if we are currently performing the motors test
uint8_t initialised : 1; // 17 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
}; };
uint32_t value; uint32_t value;
} ap; } ap;

12
ArduCopter/GCS_Mavlink.pde
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@ -481,10 +481,14 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
break; break;
case MSG_EXTENDED_STATUS1: case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS); // send extended status only once vehicle has been initialised
send_extended_status1(chan); // to avoid unnecessary errors being reported to user
CHECK_PAYLOAD_SIZE(POWER_STATUS); if (ap.initialised) {
gcs[chan-MAVLINK_COMM_0].send_power_status(); CHECK_PAYLOAD_SIZE(SYS_STATUS);
send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
gcs[chan-MAVLINK_COMM_0].send_power_status();
}
break; break;
case MSG_EXTENDED_STATUS2: case MSG_EXTENDED_STATUS2:

3
ArduCopter/system.pde
View File

@ -295,6 +295,9 @@ static void init_ardupilot()
} }
cliSerial->print_P(PSTR("\nReady to FLY ")); cliSerial->print_P(PSTR("\nReady to FLY "));
// flag that initialisation has completed
ap.initialised = true;
} }