mirror of https://github.com/ArduPilot/ardupilot
262 lines
6.6 KiB
C++
262 lines
6.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Tracker.h"
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#include "version.h"
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// mission storage
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static const StorageAccess wp_storage(StorageManager::StorageMission);
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static void mavlink_snoop_static(const mavlink_message_t* msg)
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{
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tracker.mavlink_snoop(msg);
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}
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static void mavlink_delay_cb_static()
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{
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tracker.mavlink_delay_cb();
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}
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void Tracker::init_tracker()
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{
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// initialise console serial port
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serial_manager.init_console();
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hal.console->printf("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n",
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hal.util->available_memory());
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// Check the EEPROM format version before loading any parameters from EEPROM
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load_parameters();
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BoardConfig.init();
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// initialise serial ports
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serial_manager.init();
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// init baro before we start the GCS, so that the CLI baro test works
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barometer.init();
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// init the GCS and start snooping for vehicle data
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gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
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gcs[0].set_snoop(mavlink_snoop_static);
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// Register mavlink_delay_cb, which will run anytime you have
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// more than 5ms remaining in your call to hal.scheduler->delay
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hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
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// we start by assuming USB connected, as we initialed the serial
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// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
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usb_connected = true;
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check_usb_mux();
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// setup serial port for telem1 and start snooping for vehicle data
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gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
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gcs[1].set_snoop(mavlink_snoop_static);
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// setup serial port for telem2 and start snooping for vehicle data
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gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
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gcs[2].set_snoop(mavlink_snoop_static);
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// setup serial port for fourth telemetry port (not used by default) and start snooping for vehicle data
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gcs[3].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 2);
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gcs[3].set_snoop(mavlink_snoop_static);
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mavlink_system.sysid = g.sysid_this_mav;
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#if LOGGING_ENABLED == ENABLED
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log_init();
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#endif
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GCS_MAVLINK::set_dataflash(&DataFlash);
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if (g.compass_enabled==true) {
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if (!compass.init() || !compass.read()) {
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hal.console->println("Compass initialisation failed!");
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g.compass_enabled = false;
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} else {
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ahrs.set_compass(&compass);
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}
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}
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// GPS Initialization
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gps.init(NULL, serial_manager);
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ahrs.init();
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ahrs.set_fly_forward(false);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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init_barometer();
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// set serial ports non-blocking
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serial_manager.set_blocking_writes_all(false);
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// initialise servos
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init_servos();
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// use given start positions - useful for indoor testing, and
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// while waiting for GPS lock
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// sanity check location
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if (fabsf(g.start_latitude) <= 90.0f && fabsf(g.start_longitude) <= 180.0f) {
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current_loc.lat = g.start_latitude * 1.0e7f;
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current_loc.lng = g.start_longitude * 1.0e7f;
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gcs_send_text(MAV_SEVERITY_NOTICE, "Ignoring invalid START_LATITUDE or START_LONGITUDE parameter");
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}
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// see if EEPROM has a default location as well
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if (current_loc.lat == 0 && current_loc.lng == 0) {
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get_home_eeprom(current_loc);
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}
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init_capabilities();
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gcs_send_text(MAV_SEVERITY_INFO,"Ready to track");
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hal.scheduler->delay(1000); // Why????
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set_mode(AUTO); // tracking
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if (g.startup_delay > 0) {
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// arm servos with trim value to allow them to start up (required
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// for some servos)
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prepare_servos();
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}
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// calibrate pressure on startup by default
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nav_status.need_altitude_calibration = true;
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}
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// updates the status of the notify objects
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// should be called at 50hz
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void Tracker::update_notify()
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{
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notify.update();
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}
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/*
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fetch HOME from EEPROM
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*/
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bool Tracker::get_home_eeprom(struct Location &loc)
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{
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// Find out proper location in memory by using the start_byte position + the index
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// --------------------------------------------------------------------------------
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if (g.command_total.get() == 0) {
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return false;
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}
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// read WP position
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loc.options = wp_storage.read_byte(0);
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loc.alt = wp_storage.read_uint32(1);
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loc.lat = wp_storage.read_uint32(5);
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loc.lng = wp_storage.read_uint32(9);
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return true;
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}
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void Tracker::set_home_eeprom(struct Location temp)
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{
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wp_storage.write_byte(0, temp.options);
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wp_storage.write_uint32(1, temp.alt);
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wp_storage.write_uint32(5, temp.lat);
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wp_storage.write_uint32(9, temp.lng);
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// Now have a home location in EEPROM
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g.command_total.set_and_save(1); // At most 1 entry for HOME
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}
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void Tracker::set_home(struct Location temp)
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{
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set_home_eeprom(temp);
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current_loc = temp;
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GCS_MAVLINK::send_home_all(temp);
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}
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void Tracker::arm_servos()
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{
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channel_yaw.enable_out();
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channel_pitch.enable_out();
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}
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void Tracker::disarm_servos()
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{
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channel_yaw.disable_out();
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channel_pitch.disable_out();
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}
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/*
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setup servos to trim value after initialising
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*/
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void Tracker::prepare_servos()
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{
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start_time_ms = AP_HAL::millis();
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channel_yaw.set_radio_out(channel_yaw.get_radio_trim());
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channel_pitch.set_radio_out(channel_pitch.get_radio_trim());
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channel_yaw.output();
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channel_pitch.output();
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}
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void Tracker::set_mode(enum ControlMode mode)
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{
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if(control_mode == mode) {
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// don't switch modes if we are already in the correct mode.
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return;
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}
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control_mode = mode;
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switch (control_mode) {
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case AUTO:
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case MANUAL:
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case SCAN:
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case SERVO_TEST:
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arm_servos();
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break;
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case STOP:
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case INITIALISING:
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disarm_servos();
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break;
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}
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// log mode change
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DataFlash.Log_Write_Mode(control_mode);
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}
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/*
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set_mode() wrapper for MAVLink SET_MODE
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*/
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bool Tracker::mavlink_set_mode(uint8_t mode)
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{
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switch (mode) {
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case AUTO:
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case MANUAL:
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case SCAN:
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case SERVO_TEST:
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case STOP:
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set_mode((enum ControlMode)mode);
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return true;
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}
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return false;
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}
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void Tracker::check_usb_mux(void)
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{
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bool usb_check = hal.gpio->usb_connected();
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if (usb_check == usb_connected) {
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return;
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}
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// the user has switched to/from the telemetry port
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usb_connected = usb_check;
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}
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/*
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should we log a message type now?
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*/
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bool Tracker::should_log(uint32_t mask)
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{
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if (!(mask & g.log_bitmask) || in_mavlink_delay) {
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return false;
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}
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return true;
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}
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