ardupilot/Tools/AP_Periph/GCS_MAVLink.cpp

82 lines
2.2 KiB
C++

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