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Copter: split SYS_STATUS and POWER_STATUS onto separate ap_messages

This commit is contained in:
Peter Barker 2018-12-18 13:08:11 +11:00 committed by Peter Barker
parent 06d2f97861
commit f8a05564e8
2 changed files with 14 additions and 10 deletions
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22
ArduCopter/GCS_Mavlink.cpp
View File

@ -254,6 +254,10 @@ uint32_t GCS_MAVLINK_Copter::telem_delay() const
return (uint32_t)(copter.g.telem_delay);
}
bool GCS_MAVLINK_Copter::vehicle_initialised() const {
return copter.ap.initialised;
}
// try to send a message, return false if it wasn't sent
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{
@ -277,17 +281,14 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
switch(id) {
case MSG_EXTENDED_STATUS1:
case MSG_SYS_STATUS:
// send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user
if (copter.ap.initialised) {
if (PAYLOAD_SIZE(chan, SYS_STATUS) +
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
}
copter.send_sys_status(chan);
send_power_status();
if (!vehicle_initialised()) {
return true;
}
CHECK_PAYLOAD_SIZE(SYS_STATUS);
copter.send_sys_status(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
@ -445,7 +446,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW,
@ -1443,7 +1445,7 @@ void Copter::mavlink_delay_cb()
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_heartbeat();
gcs().send_message(MSG_EXTENDED_STATUS1);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;

2
ArduCopter/GCS_Mavlink.h
View File

@ -47,6 +47,8 @@ private:
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
bool vehicle_initialised() const override;
void packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg) override;