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XbeeMav
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changes in baud rate

This commit is contained in:
vivek-shankar 2017-01-29 15:43:55 -05:00
parent cd1eb3db19
commit 889e4f2e39
4 changed files with 6 additions and 6 deletions
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4
CMakeLists.txt
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@ -56,8 +56,8 @@ include_directories(
add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp) add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp)
target_link_libraries(xbee_mav ${catkin_LIBRARIES}) target_link_libraries(xbee_mav ${catkin_LIBRARIES})
#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
#target_link_libraries(config ${catkin_LIBRARIES}) target_link_libraries(config ${catkin_LIBRARIES})
#add_executable(test_controller src/TestController.cpp) #add_executable(test_controller src/TestController.cpp)
#target_link_libraries(test_controller ${catkin_LIBRARIES}) #target_link_libraries(test_controller ${catkin_LIBRARIES})

2
Resources/XBee_Config.xml
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@ -22,7 +22,7 @@
<Parameter Command="CI" Description="Cluster ID">11</Parameter> <Parameter Command="CI" Description="Cluster ID">11</Parameter>
<Parameter Command="EE" Description="Encryption Enbale">0</Parameter> <Parameter Command="EE" Description="Encryption Enbale">0</Parameter>
<Parameter Command="KY" Description="Encryption Key"></Parameter> <Parameter Command="KY" Description="Encryption Key"></Parameter>
<Parameter Command="BD" Description="Baud Rate">8</Parameter> <Parameter Command="BD" Description="Baud Rate">4</Parameter>
<Parameter Command="NB" Description="Parity">0</Parameter> <Parameter Command="NB" Description="Parity">0</Parameter>
<Parameter Command="SB" Description="Stop Bits">0</Parameter> <Parameter Command="SB" Description="Stop Bits">0</Parameter>
<Parameter Command="RO" Description="Packetization Timeout">3</Parameter> <Parameter Command="RO" Description="Packetization Timeout">3</Parameter>

4
src/CommunicationManager.cpp
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@ -44,7 +44,7 @@ namespace Xbee
//***************************************************************************** //*****************************************************************************
CommunicationManager::CommunicationManager(): CommunicationManager::CommunicationManager():
START_DLIMITER(static_cast<unsigned char>(0x7E)), START_DLIMITER(static_cast<unsigned char>(0x7E)),
LOOP_RATE(10) /* 10 fps */ LOOP_RATE(30) /* 10 fps */
{ {
} }
@ -604,7 +604,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg) const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
{ {
const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */ const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */
const unsigned short MAX_NBR_OF_INT64 = 25; const unsigned short MAX_NBR_OF_INT64 = 24;
char temporary_buffer[MAX_BUFFER_SIZE]; char temporary_buffer[MAX_BUFFER_SIZE];
std::string frame; std::string frame;
int converted_bytes = 0; int converted_bytes = 0;

2
src/Xbee.cpp
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@ -17,7 +17,7 @@ int main(int argc, char* argv[])
Mist::Xbee::CommunicationManager communication_manager; Mist::Xbee::CommunicationManager communication_manager;
const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command. const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command.
const std::size_t baud_rate = 230400; // TO DO Can be introduced as command. const std::size_t baud_rate = 19200; // TO DO Can be introduced as command.
Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type =
Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE; Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE;
Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode = Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode =