mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "GCS_MAVLink.h"
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#include <AP_HAL/AP_HAL_Boards.h>
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#include "AP_Periph.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <hal.h>
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#endif
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#if HAL_GCS_ENABLED
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static const ap_message STREAM_RAW_SENSORS_msgs[] = {
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MSG_RAW_IMU
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};
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static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
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MSG_SYS_STATUS,
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MSG_POWER_STATUS,
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MSG_MCU_STATUS,
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MSG_MEMINFO,
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MSG_GPS_RAW,
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MSG_GPS_RTK,
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};
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static const ap_message STREAM_POSITION_msgs[] = {
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#if defined(HAL_PERIPH_ENABLE_AHRS)
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MSG_LOCATION,
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MSG_LOCAL_POSITION
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#endif
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};
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static const ap_message STREAM_PARAMS_msgs[] = {
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MSG_NEXT_PARAM
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};
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const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
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MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
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MAV_STREAM_ENTRY(STREAM_POSITION),
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MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
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MAV_STREAM_ENTRY(STREAM_PARAMS),
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MAV_STREAM_TERMINATOR // must have this at end of stream_entries
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};
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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uint8_t GCS_MAVLINK_Periph::sysid_my_gcs() const
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{
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return periph.g.sysid_this_mav;
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}
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uint8_t GCS_Periph::sysid_this_mav() const
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{
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return periph.g.sysid_this_mav;
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}
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MAV_RESULT GCS_MAVLINK_Periph::handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
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{
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hal.scheduler->delay(10);
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periph.prepare_reboot();
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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NVIC_SystemReset();
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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HAL_SITL::actually_reboot();
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#endif
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}
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#endif // #if HAL_GCS_ENABLED
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