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GCS_MAVLink: routing example: use GCS_Dummy in place of custom GCS

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This commit is contained in:
Peter Barker 2019-06-20 10:46:01 +10:00 committed by Peter Barker
parent 061b4b7e70
commit c11da6a85d
1 changed files with 3 additions and 50 deletions
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53
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -5,6 +5,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS_Dummy.h>
#include <AP_Common/AP_FWVersion.h> #include <AP_Common/AP_FWVersion.h>
void setup(); void setup();
@ -12,55 +13,7 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
const AP_FWVersion AP_FWVersion::fwver GCS_Dummy _gcs;
{
major: 3,
minor: 1,
patch: 4,
fw_type: FIRMWARE_VERSION_TYPE_DEV,
fw_string: "routing example",
fw_hash_str: "",
middleware_name: "",
middleware_hash_str: "",
os_name: "",
os_hash_str: "",
os_sw_version: 0
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};
class GCS_MAVLINK_routing : public GCS_MAVLINK
{
public:
protected:
uint32_t telem_delay() const override { return 0; }
uint8_t sysid_my_gcs() const override { return 1; }
bool set_mode(uint8_t mode) override { return false; };
// dummy information:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }
private:
void handleMessage(mavlink_message_t * msg) override { }
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return false ; }
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override { }
bool try_send_message(enum ap_message id) override { return false; }
};
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
static GCS_MAVLINK_routing gcs_link[num_gcs];
extern mavlink_system_t mavlink_system; extern mavlink_system_t mavlink_system;
@ -73,7 +26,7 @@ static MAVLink_routing routing;
void setup(void) void setup(void)
{ {
hal.console->printf("routing test startup..."); hal.console->printf("routing test startup...");
gcs_link[0].init(hal.uartA, MAVLINK_COMM_0); gcs().chan(0).init(hal.uartA, MAVLINK_COMM_0);
} }
void loop(void) void loop(void)