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services-ros1-xbee_mav
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debug prints

This commit is contained in:
vivek-shankar 2017-01-26 18:27:28 -05:00
parent 6509c8f0cd
commit fc086f0410
1 changed files with 3 additions and 2 deletions
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5
src/CommunicationManager.cpp
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@ -531,7 +531,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame); uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame);
uint16_t cnt=0; uint16_t cnt=0;
uint16_t number=1; uint16_t number=1;
uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)20)); uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)10));
std::cout <<"Payload size" <<mavlink_msg->payload64.size() << std::endl; std::cout <<"Payload size" <<mavlink_msg->payload64.size() << std::endl;
uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; uint64_t header = (uint64_t)0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
std::cout << "Total chunks:" <<total << std::endl; std::cout << "Total chunks:" <<total << std::endl;
@ -546,7 +546,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
for (int i =0; i<mavlink_msg->payload64.size(); i++) for (int i =0; i<mavlink_msg->payload64.size(); i++)
{ {
if(cnt<20){ if(cnt<10){
converted_bytes += sprintf( converted_bytes += sprintf(
temporary_buffer+converted_bytes, "%" PRIu64 " ", temporary_buffer+converted_bytes, "%" PRIu64 " ",
(uint64_t)mavlink_msg->payload64.at(i)); (uint64_t)mavlink_msg->payload64.at(i));
@ -560,6 +560,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
cnt=0; cnt=0;
frame = ""; frame = "";
header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ; header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
std::cout << "Sent header" <<header_16[0]<<" "<<header_16[1]<<" "<<header_16[2]<<" "<<header_16[3]<<" "<< std::endl;
memset(temporary_buffer, 0, MAX_BUFFER_SIZE); memset(temporary_buffer, 0, MAX_BUFFER_SIZE);
converted_bytes = sprintf( converted_bytes = sprintf(
temporary_buffer, "%" PRIu64 " ", temporary_buffer, "%" PRIu64 " ",