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Plane: rename gcs[] to gcs_chan[] 

Wish to use gcs() to return the gcs singleton
This commit is contained in:
Peter Barker 2016-06-17 11:27:47 +10:00 committed by Andrew Tridgell
parent 029aeeb4fd
commit d060670ba3
5 changed files with 27 additions and 27 deletions
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26
ArduPlane/GCS_Mavlink.cpp
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@ -91,7 +91,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
base_mode,
custom_mode,
system_status);
@ -2098,7 +2098,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
void Plane::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) return;
if (!gcs_chan[0].initialised || in_mavlink_delay) return;
in_mavlink_delay = true;
@ -2129,8 +2129,8 @@ void Plane::mavlink_delay_cb()
void Plane::gcs_send_message(enum ap_message id)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_message(id);
if (gcs_chan[i].initialised) {
gcs_chan[i].send_message(id);
}
}
}
@ -2141,9 +2141,9 @@ void Plane::gcs_send_message(enum ap_message id)
void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].mission_item_reached_index = mission_index;
gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
if (gcs_chan[i].initialised) {
gcs_chan[i].mission_item_reached_index = mission_index;
gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
}
}
}
@ -2154,8 +2154,8 @@ void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
void Plane::gcs_data_stream_send(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].data_stream_send();
if (gcs_chan[i].initialised) {
gcs_chan[i].data_stream_send();
}
}
}
@ -2166,11 +2166,11 @@ void Plane::gcs_data_stream_send(void)
void Plane::gcs_update(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
if (gcs_chan[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
gcs_chan[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
#else
gcs[i].update(nullptr);
gcs_chan[i].update(nullptr);
#endif
}
}
@ -2204,7 +2204,7 @@ void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
if (gcs_chan[i].initialised) {
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
}

2
ArduPlane/Log.cpp
View File

@ -543,7 +543,7 @@ void Plane::log_init(void)
DataFlash.Prep();
gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
gcs_chan[i].reset_cli_timeout();
}
}
}

8
ArduPlane/Parameters.cpp
View File

@ -1070,19 +1070,19 @@ const AP_Param::Info Plane::var_info[] = {
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[0], gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(gcs_chan[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[1], gcs1, "SR1_", GCS_MAVLINK),
GOBJECTN(gcs_chan[1], gcs1, "SR1_", GCS_MAVLINK),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
GOBJECTN(gcs_chan[2], gcs2, "SR2_", GCS_MAVLINK),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[3], gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(gcs_chan[3], gcs3, "SR3_", GCS_MAVLINK),
// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp

2
ArduPlane/Plane.h
View File

@ -251,7 +251,7 @@ private:
// GCS selection
AP_SerialManager serial_manager;
const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Plane gcs[MAVLINK_COMM_NUM_BUFFERS];
GCS_MAVLINK_Plane gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
// selected navigation controller
AP_Navigation *nav_controller = &L1_controller;

16
ArduPlane/system.cpp
View File

@ -122,7 +122,7 @@ void Plane::init_ardupilot()
// initialise serial ports
serial_manager.init();
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
// Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay
@ -162,7 +162,7 @@ void Plane::init_ardupilot()
// setup telem slots with serial ports
for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
// setup frsky
@ -232,11 +232,11 @@ void Plane::init_ardupilot()
if (g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->printf("%s\n", msg);
if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
gcs[1].get_uart()->printf("%s\n", msg);
if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
gcs_chan[1].get_uart()->printf("%s\n", msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
gcs[2].get_uart()->printf("%s\n", msg);
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
gcs_chan[2].get_uart()->printf("%s\n", msg);
}
}
#endif // CLI_ENABLED
@ -571,8 +571,8 @@ void Plane::check_long_failsafe()
(tnow - failsafe.last_heartbeat_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
gcs[0].last_radio_status_remrssi_ms != 0 &&
(tnow - gcs[0].last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
gcs_chan[0].last_radio_status_remrssi_ms != 0 &&
(tnow - gcs_chan[0].last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
}
} else {