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65 Commits

Author SHA1 Message Date
Peter Barker
e3c4d9fd23 GCS_MAVLink: allocate mavlink status and send buffers dynamically 
This makes ArduPilot responsible for supplying buffers to the mavlink layer, rather than that layer allocating them based on MAVLINK_COMM_NUM_BUFFERS.

We will want to rename MAVLINK_COMM_NUM_BUFFERS to AP_GCS_MAX_BACKENDS at some stage.
 2023-06-21 17:50:31 +10:00
Peter Barker
29d6c51f43 SITL: stop using mavlink channels for packing messages 
precedent was set in the mavlink rangefinder; we don't need to re-use SITL buffers for this
 2023-05-16 10:17:56 +10:00
Andrew Tridgell
44d9d410a1 GCS_MAVLink: fixed mavlink packet corruption with multiple threads 
this ensures we don't try to send more data to a uart than is
available in the tx buffer
 2022-02-19 17:20:17 +11:00
Peter Barker
a6713f8368 GCS_MAVLink: build ArduPilot against all.xml not ardupilotmega.xml 2022-02-08 11:00:41 +11:00
Andrew Tridgell
91aaa7876d GCS_MAVLink: reserve another mavlink channel 
for SimShip
 2020-07-10 13:28:38 +10:00
Peter Barker
8fc55b9678 GCS_MAVLink: remove comm_get_available 
available returns an unsigned integer, so this was just weird
 2019-09-10 15:45:27 +10:00
Peter Barker
210c2070a1 GCS_MAVLink: remove include of AP_Param.h in GCS_MAVLink.h 
This will help break include loops.
 2019-07-17 18:05:29 +10:00
Jaaaky
971e3af826 GCS_MAVLink: prgama away address-of-packed-member only for g++ >= 9 2019-05-03 01:57:26 +10:00
Peter Barker
9273ac3631 GCS_MAVLink: pragma away address-of-packed-member 
g++-9 throws a lot of warnings for taking addresses of packed members.
We can have this warning for our ArduPilot code, but there's way too
many issues within MAVLink to put up with.
 2019-05-01 19:36:49 -07:00
Peter Barker
49493676ea GCS_MAVLink: use MAV_PARAM_TYPE for sending parameter messages 
... rather than mavlink_message_type_t
 2019-02-26 08:20:25 +11:00
Andrew Tridgell
048a52ebc0 GCS_MAVLink: make mavlink send from multiple threads safe 
this takes a lock to prevent interleaving of mavlink msgs from
multiple threads
 2018-08-16 12:40:10 +10:00
Peter Barker
1aaf7e96af GCS_MAVLink: remove intermediate functions 
GCS_MAVLink: remove comm_receive_ch

This is a lot of sanity checking in a static function which has been
called from a place where things are guaranteed

GCS_MAVLink: remove unused comm_is_idle

GCS_MAVLink: remove unused comm_send_ch

GCS_MAVLink: remove unused hal reference

GCS_MAVLink: remove unused #includes
 2018-05-29 14:42:02 +10:00
Andrew Tridgell
a5fe798e7f GCS_MAVLink: we don't need the conversion helpers 2018-05-07 11:43:23 +10:00
Andrew Tridgell
fd3037bbb7 GCS_MAVLink: add support for alternative protocol 
this allows an alternative to MAVLink to be installed on a GCS
port. This is used for BLHeli passthru support
 2018-04-07 09:10:29 +10:00
Peter Barker
42547d2d6d GCS_MAVLink: allow extra mavlink port for packing vicon messages 2018-04-02 09:23:27 +09:00
Andrew Tridgell
e255f07022 GCS_MAVLink: rename ch variable 
avoid conflict with ch variable from ChibiOS
 2018-01-15 11:46:02 +11:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell
b3f94184f2 GCS_MAVLink: always build with MAVLink2 headers 2016-05-21 15:25:16 +10:00
Andrew Tridgell
0ead0ab978 GCS_MAVLink: support mavlink2 build 2016-05-21 15:25:12 +10:00
Andrew Tridgell
62986957b4 GCS_MAVLink: raise number of mavlink buffers to 5 2016-04-20 09:39:50 +10:00
Lucas De Marchi
a502c0924c GCS_MAVLink: simplify sanity check 2016-03-30 01:32:45 -03:00
Francisco Ferreira
d3e149e5d7 GCS_MAVLink: ignore Clang out-of-range warning 
warning: comparison of constant 4 with expression of type 'mavlink_channel_t' is always false [-Wtautological-constant-out-of-range-compare]
    if (chan >= MAVLINK_COMM_NUM_BUFFERS) {
        ~~~~ ^  ~~~~~~~~~~~~~~~~~~~~~~~~
 2016-03-30 01:32:45 -03:00
Lucas De Marchi
c2b5ad46b4 GCS_MAVLink: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Lucas De Marchi
039f42d916 GCS_MAVLink: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
squilter
426dab5078 GCS_MAVLink: update severities and remove old enum 2015-08-28 10:04:35 +10:00
Gustavo Jose de Sousa
d7a2ef3e35 GCS_MAVLink: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:25 +10:00
Randy Mackay
85eeba93c0 GCS_MAVLink: mavlink_comm_port to array 2015-05-15 15:07:31 +09:00
Randy Mackay
62e7e8cc7d GCS_MAVLink: add support for 4th mavlink chan on PX4 2015-05-15 15:07:23 +09:00
Randy Mackay
1157c13eb6 GCS_MAVLink: mavlink_comm_x become UARTDrivers 2015-01-29 14:05:12 +11:00
Andrew Tridgell
f1edd1bafb GCS_MAVLink: removed use of mavlink_check_target() 
not needed now we do routing properly, as messages will only be
processed if they are for us
 2014-12-11 12:31:06 +09:00
Andrew Tridgell
ffd6fa1366 GCS_MAVLink: ignore alignment warnings in MAVLink headers 2014-07-25 17:14:48 +10:00
Andrew Tridgell
013aaf4d3e GCS_MAVLink: moved comms functions to not be inline 
saves a bit of flash space
 2014-04-04 13:19:15 +11:00
Andrew Tridgell
d9e8c34a89 GCS_MAVLink: allow for proxying of larger MAVLink messages on PX4 
this makes it possible to deal with large MAVLink messages
 2014-03-11 13:48:25 +11:00
Andrew Tridgell
ac24ff0b1e GCS_MAVLink: added support for 3 UARTs 
support 3 UARTs on non-AVR platforms
 2013-11-23 19:29:22 +11:00
Andrew Tridgell
8d227b801f GCS_MAVLink: increase max packet size to 104 
this enables the DATA96 packet to be sent
 2013-11-22 15:08:34 +11:00
Andrew Tridgell
445edb8793 GCS_MAVLink: remove CR/LF 2013-09-19 16:27:14 +10:00
Randy Mackay
8545071a21 GCS_MAVLink: include AP_Math.h 
Required because mavlink_conversions's mavlink_dcm_to_euler function
uses atan2
 2013-07-14 15:56:58 +09:00
Andrew Tridgell
91a60be758 GCS_MAVLink: fixed indent-tabs-mode 2013-05-30 09:50:57 +10:00
Andrew Tridgell
11bf6f40f7 GCS_MAVLink: moved gcs_severity to library header 2013-05-09 09:27:58 +10:00
Andrew Tridgell
7e58bde826 GCS_MAVLink: added comm_is_idle() function 
this will make CLI detection more reliable
 2013-03-21 21:55:12 +11:00
Andrew Tridgell
ea3b405959 MAVLink: moved CRC table into program 
this saves 256 bytes of memory
 2013-01-10 21:28:07 +11:00
Andrew Tridgell
dc66708856 MAVLink: cope with available() returning -1 2013-01-09 13:31:00 +11:00
Andrew Tridgell
c9fe7fe932 MAVLink: use buffer send and fast CRC if possible 2013-01-08 14:37:40 -08:00
Andrew Tridgell
feeebae03f GCS_MAVLink: added comm_send_buffer() 
this reduces the overhead of sending messages
 2013-01-08 14:37:39 -08:00
Pat Hickey
6661f827fa GCS_MAVLink: port to work with AP_HAL class rather than FastSerial 2012-12-20 14:51:24 +11:00
Pat Hickey
3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
Andrew Tridgell
15abc784ec MAVLink: use a smaller maximum payload to reduce memory 
this limits the sizes of the MAVLink buffers. It doesn't make a big
difference now, but it will matter when we update to the latest
mavlink code which has some very large packets
 2012-12-03 23:28:23 +11:00
Andrew Tridgell
9f9d570597 MAVLink: comm_get_txspace should return 0 on error 
it is used in expressions that add constants
 2012-09-25 07:20:43 +10:00
Andrew Tridgell
3a1ff7bdd9 Mavlink: enable MAVLINK_SEPARATE_HELPERS 
this fixes a seq number problem with SIMSTATE packets
 2012-09-08 10:06:19 +10:00
Andrew Tridgell
dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00