mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.0 KiB
C++
81 lines
2.0 KiB
C++
#include "GCS_Plane.h"
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#include "Plane.h"
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void GCS_Plane::reset_cli_timeout()
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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_chan[i].reset_cli_timeout();
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}
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}
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void GCS_Plane::send_message(enum ap_message id)
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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if (_chan[i].initialised) {
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_chan[i].send_message(id);
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}
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}
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}
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void GCS_Plane::data_stream_send()
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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if (_chan[i].initialised) {
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_chan[i].data_stream_send();
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}
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}
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}
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void GCS_Plane::update(void)
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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if (_chan[i].initialised) {
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_chan[i].update(_run_cli);
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}
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}
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}
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void GCS_Plane::send_mission_item_reached_message(uint16_t mission_index)
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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if (_chan[i].initialised) {
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_chan[i].mission_item_reached_index = mission_index;
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_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
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}
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}
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}
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void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
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{
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for (uint8_t i=0; i<_num_gcs; i++) {
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if (_chan[i].initialised) {
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
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plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
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}
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}
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}
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}
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void GCS_Plane::setup_uarts(AP_SerialManager &serial_manager)
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{
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for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
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_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
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}
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}
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#if CLI_ENABLED == ENABLED
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void GCS_Plane::handle_interactive_setup()
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{
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if (plane.g.cli_enabled == 1) {
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const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
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plane.cliSerial->printf("%s\n", msg);
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if (_chan[1].initialised && (_chan[1].get_uart() != NULL)) {
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_chan[1].get_uart()->printf("%s\n", msg);
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}
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if (num_gcs() > 2 && _chan[2].initialised && (_chan[2].get_uart() != NULL)) {
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_chan[2].get_uart()->printf("%s\n", msg);
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}
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}
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}
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#endif
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