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AP_Frsky_Telem: use AP_FWVersion singleton

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Peter Barker 2018-06-13 21:11:52 +10:00 committed by Francisco Ferreira
parent ceaadc4cce
commit 4168bd709c
2 changed files with 19 additions and 3 deletions
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14
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -22,6 +22,8 @@
#include "AP_Frsky_Telem.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
ObjectArray<mavlink_statustext_t> AP_Frsky_Telem::_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY);
@ -36,7 +38,9 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
/*
* init - perform required initialisation
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, const uint32_t *ap_valuep)
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager,
const uint8_t mav_type,
const uint32_t *ap_valuep)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
@ -48,7 +52,13 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
// make frsky_telemetry available to GCS_MAVLINK (used to queue statustext messages from GCS_MAVLINK)
gcs().register_frsky_telemetry_callback(this);
// add firmware and frame info to message queue
queue_message(MAV_SEVERITY_INFO, firmware_str);
if (_frame_string == nullptr) {
queue_message(MAV_SEVERITY_INFO, AP::fwversion().fw_string);
} else {
char firmware_buf[50];
snprintf(firmware_buf, sizeof(firmware_buf), "%s %s", AP::fwversion().fw_string, _frame_string);
queue_message(MAV_SEVERITY_INFO, firmware_buf);
}
// save main parameters locally
_params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
if (ap_valuep == nullptr) { // ap bit-field

8
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
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@ -120,7 +120,9 @@ public:
AP_Frsky_Telem &operator=(const AP_Frsky_Telem&) = delete;
// init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, const uint32_t *ap_valuep = nullptr);
void init(const AP_SerialManager &serial_manager,
const uint8_t mav_type,
const uint32_t *ap_valuep = nullptr);
// add statustext message to FrSky lib message queue
void queue_message(MAV_SEVERITY severity, const char *text);
@ -141,6 +143,8 @@ public:
static ObjectArray<mavlink_statustext_t> _statustext_queue;
void set_frame_string(const char *string) { _frame_string = string; }
private:
AP_AHRS &_ahrs;
const AP_BattMonitor &_battery;
@ -150,6 +154,8 @@ private:
bool _initialised_uart;
uint16_t _crc;
const char *_frame_string;
struct
{
uint8_t mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)