changes in baud rate
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cd1eb3db19
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@ -56,8 +56,8 @@ include_directories(
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add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp)
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target_link_libraries(xbee_mav ${catkin_LIBRARIES})
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#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
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#target_link_libraries(config ${catkin_LIBRARIES})
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add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
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target_link_libraries(config ${catkin_LIBRARIES})
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#add_executable(test_controller src/TestController.cpp)
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#target_link_libraries(test_controller ${catkin_LIBRARIES})
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@ -22,7 +22,7 @@
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<Parameter Command="CI" Description="Cluster ID">11</Parameter>
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<Parameter Command="EE" Description="Encryption Enbale">0</Parameter>
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<Parameter Command="KY" Description="Encryption Key"></Parameter>
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<Parameter Command="BD" Description="Baud Rate">8</Parameter>
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<Parameter Command="BD" Description="Baud Rate">4</Parameter>
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<Parameter Command="NB" Description="Parity">0</Parameter>
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<Parameter Command="SB" Description="Stop Bits">0</Parameter>
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<Parameter Command="RO" Description="Packetization Timeout">3</Parameter>
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@ -44,7 +44,7 @@ namespace Xbee
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//*****************************************************************************
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CommunicationManager::CommunicationManager():
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START_DLIMITER(static_cast<unsigned char>(0x7E)),
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LOOP_RATE(10) /* 10 fps */
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LOOP_RATE(30) /* 10 fps */
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{
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}
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@ -604,7 +604,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
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const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
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{
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const unsigned short MAX_BUFFER_SIZE = 211; /* 20 (length(uint64_t)) * 10 (max int number) + 10 (spaces) + 1 */
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const unsigned short MAX_NBR_OF_INT64 = 25;
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const unsigned short MAX_NBR_OF_INT64 = 24;
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char temporary_buffer[MAX_BUFFER_SIZE];
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std::string frame;
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int converted_bytes = 0;
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@ -17,7 +17,7 @@ int main(int argc, char* argv[])
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Mist::Xbee::CommunicationManager communication_manager;
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const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command.
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const std::size_t baud_rate = 230400; // TO DO Can be introduced as command.
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const std::size_t baud_rate = 19200; // TO DO Can be introduced as command.
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Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type =
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Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE;
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Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode =
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