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GCS_MAVLink: move sending of system_time up

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Peter Barker 2017-08-04 18:37:30 +10:00 committed by Francisco Ferreira
parent e94ae13cfd
commit 4e3cc6fd27
2 changed files with 26 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -294,6 +294,7 @@ protected:
bool try_send_compass_message(enum ap_message id);
bool try_send_mission_message(enum ap_message id);
bool try_send_camera_message(enum ap_message id);
bool try_send_gps_message(enum ap_message id);
void send_hwstatus();
private:

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2113,6 +2113,28 @@ void GCS_MAVLINK::send_hwstatus()
0);
}
bool GCS_MAVLINK::try_send_gps_message(const enum ap_message id)
{
AP_GPS *gps = get_gps();
if (gps == nullptr) {
return true;
}
bool ret = true;
switch(id) {
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time(*gps);
ret = true;
break;
default:
ret = true;
break;
}
return ret;
}
bool GCS_MAVLINK::try_send_camera_message(const enum ap_message id)
{
AP_Camera *camera = get_camera();
@ -2180,6 +2202,9 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
ret = try_send_camera_message(id);
break;
case MSG_SYSTEM_TIME:
ret = try_send_gps_message(id);
break;
default:
// try_send_message must always at some stage return true for