mirror of https://github.com/ArduPilot/ardupilot
147 lines
3.1 KiB
Plaintext
147 lines
3.1 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
#if GCS_PROTOCOL == GCS_PROTOCOL_LEGACY
|
|
|
|
#if GCS_PORT == 3
|
|
# define SendSer Serial3.print
|
|
# define SendSerln Serial3.println
|
|
#else
|
|
# define SendSer Serial.print
|
|
# define SendSerln Serial.println
|
|
#endif
|
|
|
|
// This is the standard GCS output file for ArduPilot
|
|
|
|
/*
|
|
Message Prefixes
|
|
!!! Position Low rate telemetry
|
|
+++ Attitude High rate telemetry
|
|
### Mode Change in control mode
|
|
%%% Waypoint Current and previous waypoints
|
|
XXX Alert Text alert - NOTE: Alert message generation is not localized to a function
|
|
PPP IMU Performance Sent every 20 seconds for performance monitoring
|
|
|
|
Message Suffix
|
|
*** All messages use this suffix
|
|
*/
|
|
|
|
/*
|
|
void acknowledge(byte id, byte check1, byte check2) {}
|
|
void send_message(byte id) {}
|
|
void send_message(byte id, long param) {}
|
|
void send_message(byte severity, const char *str) {}
|
|
*/
|
|
|
|
void acknowledge(byte id, byte check1, byte check2)
|
|
{
|
|
}
|
|
|
|
void send_message(byte severity, const char *str) // This is the instance of send_message for message 0x05
|
|
{
|
|
if(severity >= DEBUG_LEVEL){
|
|
SendSer("MSG: ");
|
|
SendSerln(str);
|
|
}
|
|
}
|
|
|
|
void send_message(byte id)
|
|
{
|
|
send_message(id,0l);
|
|
}
|
|
|
|
void send_message(byte id, long param)
|
|
{
|
|
switch(id) {
|
|
case MSG_ATTITUDE: // ** Attitude message
|
|
print_attitude();
|
|
break;
|
|
case MSG_LOCATION: // ** Location/GPS message
|
|
print_position();
|
|
break;
|
|
case MSG_HEARTBEAT: // ** Location/GPS message
|
|
print_control_mode();
|
|
break;
|
|
//case MSG_PERF_REPORT:
|
|
// printPerfData();
|
|
}
|
|
}
|
|
|
|
void print_current_waypoints()
|
|
{
|
|
}
|
|
|
|
void print_attitude(void)
|
|
{
|
|
SendSer("+++");
|
|
SendSer("ASP:");
|
|
SendSer((int)airspeed / 100, DEC);
|
|
SendSer(",THH:");
|
|
SendSer(g.rc_3.servo_out, DEC);
|
|
SendSer (",RLL:");
|
|
SendSer(dcm.roll_sensor / 100, DEC);
|
|
SendSer (",PCH:");
|
|
SendSer(dcm.pitch_sensor / 100, DEC);
|
|
SendSerln(",***");
|
|
}
|
|
|
|
void print_control_mode(void)
|
|
{
|
|
SendSer("###");
|
|
SendSer(flight_mode_strings[control_mode]);
|
|
SendSerln("***");
|
|
}
|
|
|
|
void print_position(void)
|
|
{
|
|
SendSer("!!!");
|
|
SendSer("LAT:");
|
|
SendSer(current_loc.lat/10,DEC);
|
|
SendSer(",LON:");
|
|
SendSer(current_loc.lng/10,DEC); //wp_current_lat
|
|
SendSer(",SPD:");
|
|
SendSer(g_gps->ground_speed/100,DEC);
|
|
SendSer(",CRT:");
|
|
SendSer(climb_rate,DEC);
|
|
SendSer(",ALT:");
|
|
SendSer(current_loc.alt/100,DEC);
|
|
SendSer(",ALH:");
|
|
SendSer(next_WP.alt/100,DEC);
|
|
SendSer(",CRS:");
|
|
SendSer(dcm.yaw_sensor/100,DEC);
|
|
SendSer(",BER:");
|
|
SendSer(target_bearing/100,DEC);
|
|
SendSer(",WPN:");
|
|
SendSer(g.waypoint_index,DEC);//Actually is the waypoint.
|
|
SendSer(",DST:");
|
|
SendSer(wp_distance,DEC);
|
|
SendSer(",BTV:");
|
|
SendSer(battery_voltage,DEC);
|
|
SendSer(",RSP:");
|
|
SendSer(g.rc_1.servo_out/100,DEC);
|
|
SendSer(",TOW:");
|
|
SendSer(g_gps->time);
|
|
SendSerln(",***");
|
|
}
|
|
|
|
void print_waypoint(struct Location *cmd,byte index)
|
|
{
|
|
SendSer("command #: ");
|
|
SendSer(index, DEC);
|
|
SendSer(" id: ");
|
|
SendSer(cmd->id,DEC);
|
|
SendSer(" p1: ");
|
|
SendSer(cmd->p1,DEC);
|
|
SendSer(" p2: ");
|
|
SendSer(cmd->alt,DEC);
|
|
SendSer(" p3: ");
|
|
SendSer(cmd->lat,DEC);
|
|
SendSer(" p4: ");
|
|
SendSerln(cmd->lng,DEC);
|
|
}
|
|
|
|
void print_waypoints()
|
|
{
|
|
}
|
|
|
|
#endif
|