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MAVLink: moved mavlink variables back to library

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these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
This commit is contained in:
Andrew Tridgell 2012-08-09 12:06:21 +10:00
parent 4c77cbcd0b
commit 16d63978f1
7 changed files with 31 additions and 55 deletions
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15
APMrover2/GCS_Mavlink.pde
View File

@ -2008,18 +2008,3 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
}
}
// this code was moved from libraries/GCS_MAVLink to allow compile
// time selection of MAVLink 1.0
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}

15
ArduCopter/GCS_Mavlink.pde
View File

@ -2038,18 +2038,3 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
}
}
// this code was moved from libraries/GCS_MAVLink to allow compile
// time selection of MAVLink 1.0
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}

15
ArduPlane/GCS_Mavlink.pde
View File

@ -1998,18 +1998,3 @@ static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
}
}
// this code was moved from libraries/GCS_MAVLink to allow compile
// time selection of MAVLink 1.0
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}

4
Tools/VARTest/VARTest.pde
View File

@ -60,10 +60,6 @@ AP_Baro_BMP085_HIL barometer;
SITL sitl;
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
FastSerialPort0(Serial);
FastSerialPort1(Serial1); // GPS port

3
libraries/AP_Math/examples/location/location.pde
View File

@ -27,9 +27,6 @@ Arduino_Mega_ISR_Registry isr_registry;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
SITL sitl;
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system;
#endif
FastSerialPort(Serial, 0);

3
libraries/Filter/examples/Derivative/Derivative.pde
View File

@ -28,9 +28,6 @@ Arduino_Mega_ISR_Registry isr_registry;
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
SITL sitl;
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system;
#endif
FastSerialPort0(Serial); // FTDI/console

31
libraries/GCS_MAVLink/GCS_MAVLink.cpp Normal file
View File

@ -0,0 +1,31 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS_MAVLink.cpp
/*
This provides some support code and variables for MAVLink enabled sketches
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <GCS_MAVLink.h>
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}