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GCS_MAVLink: moving sending of sim state up

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This commit is contained in:
Peter Barker 2018-01-02 09:21:00 +11:00 committed by Peter Barker
parent a137afd11b
commit e9d2be143a
2 changed files with 23 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -177,6 +177,7 @@ public:
virtual void send_scaled_pressure3(); // allow sub to override this virtual void send_scaled_pressure3(); // allow sub to override this
void send_scaled_pressure(); void send_scaled_pressure();
void send_sensor_offsets(); void send_sensor_offsets();
virtual void send_simstate() const;
void send_ahrs(); void send_ahrs();
void send_battery2(); void send_battery2();
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE

22
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -36,6 +36,10 @@
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms; uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
@ -2352,6 +2356,17 @@ void GCS_MAVLINK::send_banner()
} }
void GCS_MAVLINK::send_simstate() const
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL *sitl = AP::sitl();
if (sitl == nullptr) {
return;
}
sitl->simstate_send(get_chan());
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet)
{ {
Compass *compass = get_compass(); Compass *compass = get_compass();
@ -2873,6 +2888,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_servo_output_raw(); send_servo_output_raw();
break; break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate();
CHECK_PAYLOAD_SIZE(AHRS2);
send_ahrs2();
break;
case MSG_AHRS: case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS); CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(); send_ahrs();