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GCS_MAVLink: added send_statustext_all() method

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used for sending text messages from libraries
This commit is contained in:
Andrew Tridgell 2014-08-08 13:45:06 +10:00
parent 1d4d848300
commit f49258eb31
2 changed files with 32 additions and 0 deletions
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7
libraries/GCS_MAVLink/GCS.h
View File

@ -200,6 +200,13 @@ public:
// over active channels to send to all active channels
static uint8_t active_channel_mask(void) { return mavlink_active; }
/*
send a statustext message to all active MAVLink
connections. This function is static so it can be called from
any library
*/
static void send_statustext_all(const prog_char_t *msg);
private:
void handleMessage(mavlink_message_t * msg);

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1128,3 +1128,28 @@ void GCS_MAVLINK::send_ahrs(AP_AHRS &ahrs)
ahrs.get_error_rp(),
ahrs.get_error_yaw());
}
/*
send a statustext message to all active MAVLink connections
*/
void GCS_MAVLINK::send_statustext_all(const prog_char_t *msg)
{
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
if ((1U<<i) & mavlink_active) {
mavlink_channel_t chan = (mavlink_channel_t)i;
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_STATUSTEXT_LEN) {
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
char msg2[50];
strncpy_P(msg2, msg, sizeof(msg2));
mavlink_msg_statustext_send(chan,
SEVERITY_HIGH,
msg2);
#else
mavlink_msg_statustext_send(chan,
SEVERITY_HIGH,
msg);
#endif
}
}
}
}