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Plane: split SYS_STATUS and POWER_STATUS onto separate ap_messages

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Peter Barker 2018-12-18 13:08:36 +11:00 committed by Peter Barker
parent f8a05564e8
commit 5137c0ab5f
1 changed files with 5 additions and 8 deletions
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13
ArduPlane/GCS_Mavlink.cpp
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@ -438,13 +438,9 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
switch (id) {
case MSG_EXTENDED_STATUS1:
if (PAYLOAD_SIZE(chan, SYS_STATUS) +
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
}
case MSG_SYS_STATUS:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
plane.send_sys_status(chan);
send_power_status();
break;
case MSG_NAV_CONTROLLER_OUTPUT:
@ -619,7 +615,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
MSG_GPS_RAW,
@ -1495,7 +1492,7 @@ void Plane::mavlink_delay_cb()
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_EXTENDED_STATUS1);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;