From 4d67241537c4c3dcbe31cacac9f672ce577fa75e Mon Sep 17 00:00:00 2001
From: "dhcorley@msn.com"
 <dhcorley@msn.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 20 Jun 2011 15:12:55 +0000
Subject: [PATCH] syncing planner.pde with APM2. For planner menu item on main
 menu . (issue tracker 194)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2598 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/planner.pde | 50 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 ArduCopterMega/planner.pde

diff --git a/ArduCopterMega/planner.pde b/ArduCopterMega/planner.pde
new file mode 100644
index 0000000000..d99881193c
--- /dev/null
+++ b/ArduCopterMega/planner.pde
@@ -0,0 +1,50 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// These are function definitions so the Menu can be constructed before the functions
+// are defined below. Order matters to the compiler.
+static int8_t	planner_gcs(uint8_t argc, 		const Menu::arg *argv);
+
+// Creates a constant array of structs representing menu options
+// and stores them in Flash memory, not RAM.
+// User enters the string in the console to call the functions on the right.
+// See class Menu in AP_Common for implementation details
+const struct Menu::command planner_menu_commands[] PROGMEM = {
+	{"gcs",		planner_gcs},
+};
+
+// A Macro to create the Menu
+MENU(planner_menu, "planner", planner_menu_commands);
+
+int8_t
+planner_mode(uint8_t argc, const Menu::arg *argv)
+{
+	Serial.printf_P(PSTR("Planner Mode\n\nThis mode is not intended for manual use\n\n"));
+	planner_menu.run();
+    return 0;
+}
+static int8_t
+planner_gcs(uint8_t argc, const Menu::arg *argv)
+{
+  gcs.init(&Serial);
+  
+  int loopcount = 0;
+  while (1) {
+    if (millis()-fast_loopTimer > 19) {
+      fast_loopTimer      = millis();
+      
+      gcs.update();
+#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
+    gcs.data_stream_send(45,1000);
+    if ((loopcount % 5) == 0) // 10 hz
+      gcs.data_stream_send(5,45);
+    if ((loopcount % 16) == 0) { // 3 hz
+      gcs.data_stream_send(1,5);
+      gcs.send_message(MSG_HEARTBEAT); 
+    }
+#endif
+      loopcount++;
+    }
+  }
+  return 0;
+}
+