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Copter: move telemetry_delayed up into base class

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This commit is contained in:
Peter Barker 2016-05-30 09:54:36 +10:00 committed by Andrew Tridgell
parent 1e146256cc
commit e977d85e0c
3 changed files with 5 additions and 16 deletions
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1
ArduCopter/Copter.h
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@ -649,7 +649,6 @@ private:
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
bool telemetry_delayed(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id); void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);
void gcs_data_stream_send(void); void gcs_data_stream_send(void);

18
ArduCopter/GCS_Mavlink.cpp
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@ -499,27 +499,15 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
} }
} }
// are we still delaying telemetry to try to avoid Xbee bricking? uint32_t GCS_MAVLINK_Copter::telem_delay() const
bool Copter::telemetry_delayed(mavlink_channel_t chan)
{ {
uint32_t tnow = millis() >> 10; return (uint32_t)(copter.g.telem_delay);
if (tnow > (uint32_t)g.telem_delay) {
return false;
}
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// this is USB telemetry, so won't be an Xbee
return false;
}
// we're either on the 2nd UART, or no USB cable is connected
// we need to delay telemetry by the TELEM_DELAY time
return true;
} }
// try to send a message, return false if it won't fit in the serial tx buffer // try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id) bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{ {
if (copter.telemetry_delayed(chan)) { if (telemetry_delayed(chan)) {
return false; return false;
} }

2
ArduCopter/GCS_Mavlink.h
View File

@ -11,6 +11,8 @@ public:
protected: protected:
uint32_t telem_delay() const override;
private: private:
void handleMessage(mavlink_message_t * msg) override; void handleMessage(mavlink_message_t * msg) override;