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GCS_MAVLink: send_autopilot_version accepts version

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squilter 2015-08-19 14:31:53 -07:00 committed by Grant Morphett
parent debbecf355
commit f4acc79fce
2 changed files with 7 additions and 3 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -148,7 +148,7 @@ public:
#if AP_AHRS_NAVEKF_AVAILABLE
void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow);
#endif
void send_autopilot_version() const;
void send_autopilot_version(uint8_t major_version = 0, uint8_t minor_version = 0, uint8_t patch_version = 0, enum FIRMWARE_VERSION_TYPE version_type = FIRMWARE_VERSION_TYPE_DEV) const;
void send_local_position(const AP_AHRS &ahrs) const;
void send_vibration(const AP_InertialSensor &ins) const;

8
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1262,7 +1262,7 @@ void GCS_MAVLINK::send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optf
/*
send AUTOPILOT_VERSION packet
*/
void GCS_MAVLINK::send_autopilot_version() const
void GCS_MAVLINK::send_autopilot_version(uint8_t major_version, uint8_t minor_version, uint8_t patch_version, enum FIRMWARE_VERSION_TYPE version_type) const
{
uint32_t flight_sw_version = 0;
uint32_t middleware_sw_version = 0;
@ -1275,6 +1275,11 @@ void GCS_MAVLINK::send_autopilot_version() const
uint16_t product_id = 0;
uint64_t uid = 0;
flight_sw_version = major_version << (8*3) | \
minor_version << (8*2) | \
patch_version << (8*1) | \
version_type << (8*0);
#if defined(GIT_VERSION)
strncpy((char *)flight_custom_version, GIT_VERSION, 8);
#else
@ -1352,4 +1357,3 @@ void GCS_MAVLINK::send_vibration(const AP_InertialSensor &ins) const
ins.get_accel_clip_count(2));
#endif
}