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Copter: support MAVLink log download

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This commit is contained in:
Andrew Tridgell 2013-12-16 11:24:27 +11:00
parent fbd2f7f880
commit 7642208c1a
1 changed files with 17 additions and 8 deletions
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25
ArduCopter/GCS_Mavlink.pde
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@ -573,6 +573,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
switch(id) { switch(id) {
case MSG_HEARTBEAT: case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT); CHECK_PAYLOAD_SIZE(HEARTBEAT);
gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
send_heartbeat(chan); send_heartbeat(chan);
break; break;
@ -692,6 +693,12 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_hwstatus(chan); send_hwstatus(chan);
break; break;
case MSG_FENCE_STATUS:
case MSG_WIND:
case MSG_RANGEFINDER:
// unused
break;
case MSG_RETRY_DEFERRED: case MSG_RETRY_DEFERRED:
break; // just here to prevent a warning break; // just here to prevent a warning
} }
@ -862,14 +869,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
}; };
GCS_MAVLINK::GCS_MAVLINK() :
packet_drops(0),
waypoint_send_timeout(1000), // 1 second
waypoint_receive_timeout(1000) // 1 second
{
AP_Param::setup_object_defaults(this, var_info);
}
void void
GCS_MAVLINK::init(AP_HAL::UARTDriver* port) GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
{ {
@ -997,6 +996,10 @@ GCS_MAVLINK::data_stream_send(void)
return; return;
} }
if (!in_mavlink_delay && !motors.armed()) {
handle_log_send(DataFlash);
}
gcs_out_of_time = false; gcs_out_of_time = false;
if (_queued_parameter != NULL) { if (_queued_parameter != NULL) {
@ -2004,6 +2007,12 @@ mission_failed:
break; break;
} }
case MAVLINK_MSG_ID_LOG_REQUEST_LIST ... MAVLINK_MSG_ID_LOG_REQUEST_END:
if (!in_mavlink_delay && !motors.armed()) {
handle_log_message(msg, DataFlash);
}
break;
/* To-Do: add back support for polygon type fence /* To-Do: add back support for polygon type fence
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// receive an AP_Limits fence point from GCS and store in EEPROM // receive an AP_Limits fence point from GCS and store in EEPROM