Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: support for a GCS singleton

This commit is contained in:
Peter Barker 2017-02-14 16:51:38 +11:00 committed by Andrew Tridgell
parent 6fb2a6814f
commit ee07a06fa2
4 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduSub/AP_State.cpp
View File

@ -43,15 +43,15 @@ void Sub::set_simple_mode(uint8_t b)
if (ap.simple_mode != b) {
if (b == 0) {
Log_Write_Event(DATA_SET_SIMPLE_OFF);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
gcs().send_statustext(MAV_SEVERITY_INFO, 0XFF, "SIMPLE mode off");
} else if (b == 1) {
Log_Write_Event(DATA_SET_SIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
gcs().send_statustext(MAV_SEVERITY_INFO, 0XFF, "SIMPLE mode on");
} else {
// initialise super simple heading
update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
gcs().send_statustext(MAV_SEVERITY_INFO, 0XFF, "SUPERSIMPLE mode on");
}
ap.simple_mode = b;
}

8
ArduSub/GCS_Mavlink.cpp
View File

@ -14,7 +14,7 @@ void Sub::gcs_send_heartbeat(void)
void Sub::gcs_send_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext();
gcs().service_statustext();
}
/*
@ -627,7 +627,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
break;
case MSG_STATUSTEXT:
// depreciated, use GCS_MAVLINK::send_statustext*
// deprecated, use gcs().send_statustext*
return false;
case MSG_LIMITS_STATUS:
@ -2052,7 +2052,7 @@ void Sub::gcs_check_input(void)
void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
gcs().send_statustext(severity, 0xFF, str);
}
/*
@ -2067,5 +2067,5 @@ void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
va_start(arg_list, fmt);
va_end(arg_list);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
gcs().send_statustext(severity, 0xFF, str);
}

2
ArduSub/Sub.h
View File

@ -220,6 +220,8 @@ private:
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Sub gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
// User variables
#ifdef USERHOOK_VARIABLES

2
ArduSub/system.cpp
View File

@ -147,7 +147,7 @@ void Sub::init_ardupilot()
log_init();
#endif
GCS_MAVLINK::set_dataflash(&DataFlash);
gcs().set_dataflash(&DataFlash);
// update motor interlock state
update_using_interlock();