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GCS_MAVLink: factor vehicle's mavlink send_heartbeat

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This commit is contained in:
Peter Barker 2018-03-22 19:49:33 +11:00 committed by Francisco Ferreira
parent a21eb12f9e
commit 4fd2ec1cef
4 changed files with 24 additions and 7 deletions
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7
libraries/GCS_MAVLink/GCS.h
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@ -149,6 +149,7 @@ public:
uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE; uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
// common send functions // common send functions
void send_heartbeat(void);
void send_meminfo(void); void send_meminfo(void);
void send_power_status(void); void send_power_status(void);
void send_battery_status(const AP_BattMonitor &battery, const uint8_t instance) const; void send_battery_status(const AP_BattMonitor &battery, const uint8_t instance) const;
@ -174,7 +175,6 @@ public:
void send_vibration(const AP_InertialSensor &ins) const; void send_vibration(const AP_InertialSensor &ins) const;
void send_home(const Location &home) const; void send_home(const Location &home) const;
void send_ekf_origin(const Location &ekf_origin) const; void send_ekf_origin(const Location &ekf_origin) const;
void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
void send_servo_output_raw(bool hil); void send_servo_output_raw(bool hil);
static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour); static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
void send_accelcal_vehicle_position(uint32_t position); void send_accelcal_vehicle_position(uint32_t position);
@ -234,6 +234,11 @@ protected:
virtual const AP_FWVersion &get_fwver() const = 0; virtual const AP_FWVersion &get_fwver() const = 0;
virtual void set_ekf_origin(const Location& loc) = 0; virtual void set_ekf_origin(const Location& loc) = 0;
virtual MAV_TYPE frame_type() const = 0;
virtual MAV_MODE base_mode() const = 0;
virtual uint32_t custom_mode() const = 0;
virtual MAV_STATE system_status() const = 0;
bool waypoint_receiving; // currently receiving bool waypoint_receiving; // currently receiving
// the following two variables are only here because of Tracker // the following two variables are only here because of Tracker
uint16_t waypoint_request_i; // request index uint16_t waypoint_request_i; // request index

12
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1516,17 +1516,17 @@ void GCS_MAVLINK::send_ekf_origin(const Location &ekf_origin) const
} }
/* /*
wrapper for sending heartbeat Send MAVLink heartbeat
*/ */
void GCS_MAVLINK::send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status) void GCS_MAVLINK::send_heartbeat()
{ {
mavlink_msg_heartbeat_send( mavlink_msg_heartbeat_send(
chan, chan,
type, frame_type(),
MAV_AUTOPILOT_ARDUPILOTMEGA, MAV_AUTOPILOT_ARDUPILOTMEGA,
base_mode, base_mode(),
custom_mode, custom_mode(),
system_status); system_status());
} }
float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num) float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)

6
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -34,6 +34,12 @@ protected:
uint8_t sysid_my_gcs() const override { return 1; } uint8_t sysid_my_gcs() const override { return 1; }
bool set_mode(uint8_t mode) override { return false; }; bool set_mode(uint8_t mode) override { return false; };
// dummy information:
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
}; };
/* /*

6
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -41,6 +41,12 @@ protected:
const AP_FWVersion &get_fwver() const override { return fwver; } const AP_FWVersion &get_fwver() const override { return fwver; }
void set_ekf_origin(const Location& loc) override { }; void set_ekf_origin(const Location& loc) override { };
// dummy information:
MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
private: private:
void handleMessage(mavlink_message_t * msg) { } void handleMessage(mavlink_message_t * msg) { }