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GCS_MAVLink: Wrap sending named float values

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Michael du Breuil 2018-05-14 22:20:30 -07:00 committed by Francisco Ferreira
parent 7a696bd766
commit 1b05a18b84
3 changed files with 16 additions and 1 deletions
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5
libraries/GCS_MAVLink/GCS.cpp
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@ -29,6 +29,11 @@ void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
} \
} while (0)
void GCS::send_named_float(const char *name, float value) const
{
FOR_EACH_ACTIVE_CHANNEL(send_named_float(name, value));
}
void GCS::send_home(const Location &home) const
{
FOR_EACH_ACTIVE_CHANNEL(send_home(home));

2
libraries/GCS_MAVLink/GCS.h
View File

@ -183,6 +183,7 @@ public:
void send_autopilot_version() const;
void send_local_position() const;
void send_vibration() const;
void send_named_float(const char *name, float value) const;
void send_home(const Location &home) const;
void send_ekf_origin(const Location &ekf_origin) const;
void send_servo_output_raw(bool hil);
@ -553,6 +554,7 @@ public:
virtual uint8_t num_gcs() const = 0;
void send_message(enum ap_message id);
void send_mission_item_reached_message(uint16_t mission_index);
void send_named_float(const char *name, float value) const;
void send_home(const Location &home) const;
void send_ekf_origin(const Location &ekf_origin) const;

10
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -600,11 +600,12 @@ void GCS_MAVLINK::handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg)
void GCS_MAVLINK::send_text(MAV_SEVERITY severity, const char *fmt, ...)
{
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
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), fmt, arg_list);
va_end(arg_list);
text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
gcs().send_statustext(severity, (1<<chan), text);
}
@ -1540,6 +1541,13 @@ void GCS_MAVLINK::send_vibration() const
ins.get_accel_clip_count(2));
}
void GCS_MAVLINK::send_named_float(const char *name, float value) const
{
char float_name[MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN+1] {};
strncpy(float_name, name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
mavlink_msg_named_value_float_send(chan, AP_HAL::millis(), float_name, value);
}
void GCS_MAVLINK::send_home(const Location &home) const
{
if (HAVE_PAYLOAD_SPACE(chan, HOME_POSITION)) {