From d3c19de9df36f4c0102e981693147afd55cacb8a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 16 May 2016 13:33:43 +1000 Subject: [PATCH] AntennaTracker: simplify UART setup --- AntennaTracker/system.cpp | 28 +++++++++------------------- 1 file changed, 9 insertions(+), 19 deletions(-) diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp index b25b76ba91..d8855ecda4 100644 --- a/AntennaTracker/system.cpp +++ b/AntennaTracker/system.cpp @@ -36,31 +36,21 @@ void Tracker::init_tracker() // init baro before we start the GCS, so that the CLI baro test works barometer.init(); - // init the GCS and start snooping for vehicle data - gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0); - gcs[0].set_snoop(mavlink_snoop_static); - - // Register mavlink_delay_cb, which will run anytime you have - // more than 5ms remaining in your call to hal.scheduler->delay - hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5); - // we start by assuming USB connected, as we initialed the serial // port with SERIAL0_BAUD. check_usb_mux() fixes this if need be. usb_connected = true; check_usb_mux(); - // setup serial port for telem1 and start snooping for vehicle data - gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0); - gcs[1].set_snoop(mavlink_snoop_static); - - // setup serial port for telem2 and start snooping for vehicle data - gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1); - gcs[2].set_snoop(mavlink_snoop_static); - - // setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data - gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2); - gcs[3].set_snoop(mavlink_snoop_static); + // setup telem slots with serial ports + for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) { + gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i); + gcs[i].set_snoop(mavlink_snoop_static); + } + // Register mavlink_delay_cb, which will run anytime you have + // more than 5ms remaining in your call to hal.scheduler->delay + hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5); + mavlink_system.sysid = g.sysid_this_mav; #if LOGGING_ENABLED == ENABLED