mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: integrate Serial Manager instance
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1ed7737669
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d738eda59d
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@ -71,7 +71,7 @@ public:
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GCS_MAVLINK();
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void update(void (*run_cli)(AP_HAL::UARTDriver *));
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void init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
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void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol);
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void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
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void send_message(enum ap_message id);
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void send_text(gcs_severity severity, const char *str);
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void send_text_P(gcs_severity severity, const prog_char_t *str);
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@ -65,12 +65,12 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
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setup a UART, handling begin() and init()
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*/
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void
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GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol)
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GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance)
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{
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// search for serial port
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AP_HAL::UARTDriver *uart;
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uart = serial_manager.find_serial(protocol);
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uart = serial_manager.find_serial(protocol, instance);
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if (uart == NULL) {
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// return immediately if not found
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return;
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@ -78,7 +78,7 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
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// get associated mavlink channel
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mavlink_channel_t mav_chan;
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if (!serial_manager.get_mavlink_channel(protocol, mav_chan)) {
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if (!serial_manager.get_mavlink_channel(protocol, instance, mav_chan)) {
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// return immediately in unlikely case mavlink channel cannot be found
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return;
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}
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