mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
#include "GCS_Tracker.h"
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#include "Tracker.h"
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uint8_t GCS_Tracker::sysid_this_mav() const
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{
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return tracker.g.sysid_this_mav;
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}
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void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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// request position
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_POSITION,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
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{
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for (uint8_t i=0; i < num_gcs(); i++) {
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// request air pressure
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if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
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mavlink_msg_request_data_stream_send(
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(mavlink_channel_t)i,
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sysid,
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compid,
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MAV_DATA_STREAM_RAW_SENSORS,
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tracker.g.mavlink_update_rate,
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1); // start streaming
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}
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}
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}
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// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
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void GCS_Tracker::update_vehicle_sensor_status_flags()
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{
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// default sensors present
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control_sensors_present |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_enabled |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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control_sensors_health |=
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MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
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MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
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MAV_SYS_STATUS_SENSOR_YAW_POSITION;
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}
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// avoid building/linking LTM:
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void AP_LTM_Telem::init() {};
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// avoid building/linking Devo:
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void AP_DEVO_Telem::init() {};
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