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GCS_MAVLink: a send_text method on the GCS singleton

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Peter Barker 2017-07-09 10:24:43 +10:00 committed by Tom Pittenger
parent f9eeaacd6c
commit 02532af64b
2 changed files with 18 additions and 0 deletions
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17
libraries/GCS_MAVLink/GCS.cpp Normal file
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@ -0,0 +1,17 @@
#include "GCS.h"
extern const AP_HAL::HAL& hal;
/*
send a text message to all GCS
*/
void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
va_list arg_list;
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
va_end(arg_list);
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
send_statustext(severity, GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask(), text);
}

1
libraries/GCS_MAVLink/GCS.h
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@ -429,6 +429,7 @@ public:
return _singleton;
}
void send_text(MAV_SEVERITY severity, const char *fmt, ...);
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
void service_statustext(void);
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;