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GCS_MAVLink: added have_flow_control() method

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can be used to change speed of handling some protocol methods, as we
know communication will be reliable
This commit is contained in:
Andrew Tridgell 2014-03-19 06:43:22 +11:00 committed by Randy Mackay
parent a90a10b0ca
commit 0b811ba6a9
3 changed files with 24 additions and 6 deletions
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4
libraries/GCS_MAVLink/GCS.h
View File

@ -287,10 +287,14 @@ private:
void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg,
AP_Mission::Mission_Command &cmd);
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_count(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg);
// return true if this channel has hardware flow control
bool have_flow_control(void);
};
#endif // __GCS_H

19
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -365,3 +365,22 @@ void GCS_MAVLINK::handle_mission_write_partial_list(AP_Mission &mission, mavlink
waypoint_request_i = packet.start_index;
waypoint_request_last= packet.end_index;
}
/*
return true if a channel has flow control
*/
bool GCS_MAVLINK::have_flow_control(void)
{
switch (chan) {
case MAVLINK_COMM_0:
// assume USB has flow control
return hal.gpio->usb_connected() || hal.uartA->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
case MAVLINK_COMM_1:
return hal.uartC->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
case MAVLINK_COMM_2:
return hal.uartD != NULL && hal.uartD->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
}
return false;
}

7
libraries/GCS_MAVLink/GCS_Logs.cpp
View File

@ -141,12 +141,7 @@ void GCS_MAVLINK::handle_log_send(DataFlash_Class &dataflash)
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// when on USB we can send a lot more data
num_sends = 40;
} else if (chan == MAVLINK_COMM_1 &&
hal.uartC->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE) {
num_sends = 10;
} else if (chan == MAVLINK_COMM_2 &&
hal.uartD != NULL &&
hal.uartD->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE) {
} else if (have_flow_control()) {
num_sends = 10;
}