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Sub: split SYS_STATUS and POWER_STATUS onto separate ap_messages

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This commit is contained in:
Peter Barker 2018-12-18 13:09:01 +11:00 committed by Peter Barker
parent 5137c0ab5f
commit d1daacd699
2 changed files with 14 additions and 10 deletions
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22
ArduSub/GCS_Mavlink.cpp
View File

@ -378,6 +378,10 @@ uint8_t GCS_MAVLINK_Sub::sysid_my_gcs() const
return sub.g.sysid_my_gcs;
}
bool GCS_MAVLINK_Sub::vehicle_initialised() const {
return sub.ap.initialised;
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
{
@ -399,17 +403,14 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
send_info();
break;
case MSG_EXTENDED_STATUS1:
case MSG_SYS_STATUS:
// send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user
if (sub.ap.initialised) {
if (PAYLOAD_SIZE(chan, SYS_STATUS) +
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
}
sub.send_sys_status(chan);
send_power_status();
if (!vehicle_initialised()) {
return true;
}
CHECK_PAYLOAD_SIZE(SYS_STATUS);
sub.send_sys_status(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
@ -536,7 +537,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
MSG_GPS_RAW,
@ -1146,7 +1148,7 @@ void Sub::mavlink_delay_cb()
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_heartbeat();
gcs().send_message(MSG_EXTENDED_STATUS1);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;

2
ArduSub/GCS_Mavlink.h
View File

@ -33,6 +33,8 @@ protected:
int32_t global_position_int_alt() const override;
int32_t global_position_int_relative_alt() const override;
bool vehicle_initialised() const override;
private:
void handleMessage(mavlink_message_t * msg) override;