mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.4 KiB
Plaintext
59 lines
1.4 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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static int8_t planner_gcs(uint8_t argc, const Menu::arg *argv);
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Common for implementation details
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const struct Menu::command planner_menu_commands[] PROGMEM = {
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{"gcs", planner_gcs},
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};
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// A Macro to create the Menu
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MENU(planner_menu, "planner", planner_menu_commands);
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static int8_t
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planner_mode(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("Planner Mode\nNot intended for manual use\n\n"));
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planner_menu.run();
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return (0);
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}
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static int8_t
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planner_gcs(uint8_t argc, const Menu::arg *argv)
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{
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gcs.init(&Serial);
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int loopcount = 0;
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while (1) {
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if (millis()-fast_loopTimer > 19) {
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fast_loopTimer = millis();
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gcs.update();
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#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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gcs.data_stream_send(45, 1000);
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if ((loopcount % 5) == 0) // 10 hz
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gcs.data_stream_send(5, 45);
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if ((loopcount % 16) == 0) { // 3 hz
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gcs.data_stream_send(1, 5);
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gcs.send_message(MSG_HEARTBEAT);
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}
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#endif
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loopcount++;
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}
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}
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return 0;
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}
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