ardupilot/ArduCopterMega/GCS_Xplane.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#if GCS_PROTOCOL == GCS_PROTOCOL_XPLANE
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){
Serial.print("MSG: ");
Serial.println(str);
}
}
void send_message(byte id) {
send_message(id,0l);
}
void send_message(byte id, long param) {
switch(id) {
case MSG_HEARTBEAT:
print_control_mode();
break;
case MSG_ATTITUDE:
//print_attitude();
break;
case MSG_LOCATION:
//print_position();
break;
case MSG_COMMAND:
struct Location cmd = get_wp_with_index(param);
print_waypoint(&cmd, param);
break;
}
}
// required by Groundstation to plot lateral tracking course
void print_new_wp_info()
{
}
void print_control_mode(void)
{
Serial.print("MSG: ");
Serial.print(flight_mode_strings[control_mode]);
}
void print_current_waypoints()
{
Serial.print("MSG: ");
Serial.print("CUR:");
Serial.print("\t");
Serial.print(current_loc.lat,DEC);
Serial.print(",\t");
Serial.print(current_loc.lng,DEC);
Serial.print(",\t");
Serial.println(current_loc.alt,DEC);
Serial.print("MSG: ");
Serial.print("NWP:");
Serial.print(wp_index,DEC);
Serial.print(",\t");
Serial.print(next_WP.lat,DEC);
Serial.print(",\t");
Serial.print(next_WP.lng,DEC);
Serial.print(",\t");
Serial.println(next_WP.alt,DEC);
}
void print_position(void)
{
}
void printPerfData(void)
{
}
void print_attitude(void)
{
}
void print_tuning(void) {
}
void print_waypoint(struct Location *cmd,byte index)
{
Serial.print("MSG: command #: ");
Serial.print(index, DEC);
Serial.print(" id: ");
Serial.print(cmd->id,DEC);
Serial.print(" p1: ");
Serial.print(cmd->p1,DEC);
Serial.print(" p2: ");
Serial.print(cmd->alt,DEC);
Serial.print(" p3: ");
Serial.print(cmd->lat,DEC);
Serial.print(" p4: ");
Serial.println(cmd->lng,DEC);
}
void print_waypoints()
{
Serial.println("Commands in memory");
Serial.print("commands total: ");
Serial.println(wp_total, DEC);
// create a location struct to hold the temp Waypoints for printing
//Location tmp;
Serial.println("Home: ");
struct Location cmd = get_wp_with_index(0);
print_waypoint(&cmd, 0);
Serial.println("Commands: ");
for (int i=1; i<wp_total; i++){
cmd = get_wp_with_index(i);
print_waypoint(&cmd, i);
}
}
#endif