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Sub: Clean up stream rate var_info

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This commit is contained in:
Jacob Walser 2017-04-06 15:11:43 -04:00
parent ea8dbbf96c
commit 61d77c72fb
1 changed files with 9 additions and 20 deletions
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29
ArduSub/GCS_Mavlink.cpp
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@ -696,7 +696,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[STREAM_RAW_SENSORS], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
@ -705,7 +705,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[STREAM_EXTENDED_STATUS], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
@ -714,16 +714,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[STREAM_RC_CHANNELS], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
@ -732,7 +723,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[STREAM_POSITION], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
@ -741,7 +732,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[STREAM_EXTRA1], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
@ -750,7 +741,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[STREAM_EXTRA2], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
@ -759,7 +750,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[STREAM_EXTRA3], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
@ -768,7 +759,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[STREAM_PARAMS], 0),
AP_GROUPEND
};
@ -1044,9 +1035,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // MAV ID: 70
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
// allow override of RC input
if (msg->sysid != sub.g.sysid_my_gcs) {
break; // Only accept control from our gcs
}