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APM: use set_and_save_ifchanged() for GCS stream rates

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this avoids a lot of EEPROM scan operations when the groundstation
updates the stream rates
This commit is contained in:
Andrew Tridgell 2012-02-17 15:15:04 +11:00
parent 70a135c47c
commit 8355823bc7
1 changed files with 15 additions and 15 deletions
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30
ArduPlane/GCS_Mavlink.pde
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@ -935,14 +935,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.req_stream_id){
case MAV_DATA_STREAM_ALL:
streamRateRawSensors = freq;
streamRateExtendedStatus = freq;
streamRateRCChannels = freq;
streamRateRawController = freq;
streamRatePosition = freq;
streamRateExtra1 = freq;
streamRateExtra2 = freq;
streamRateExtra3.set_and_save(freq); // We just do set and save on the last as it takes care of the whole group.
streamRateRawSensors.set_and_save_ifchanged(freq);
streamRateExtendedStatus.set_and_save_ifchanged(freq);
streamRateRCChannels.set_and_save_ifchanged(freq);
streamRateRawController.set_and_save_ifchanged(freq);
streamRatePosition.set_and_save_ifchanged(freq);
streamRateExtra1.set_and_save_ifchanged(freq);
streamRateExtra2.set_and_save_ifchanged(freq);
streamRateExtra3.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RAW_SENSORS:
@ -950,15 +950,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// we will not continue to broadcast raw sensor data at 50Hz.
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
streamRateExtendedStatus.set_and_save(freq);
streamRateExtendedStatus.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RC_CHANNELS:
streamRateRCChannels.set_and_save(freq);
streamRateRCChannels.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
streamRateRawController.set_and_save(freq);
streamRateRawController.set_and_save_ifchanged(freq);
break;
//case MAV_DATA_STREAM_RAW_SENSOR_FUSION:
@ -966,19 +966,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// break;
case MAV_DATA_STREAM_POSITION:
streamRatePosition.set_and_save(freq);
streamRatePosition.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA1:
streamRateExtra1.set_and_save(freq);
streamRateExtra1.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA2:
streamRateExtra2.set_and_save(freq);
streamRateExtra2.set_and_save_ifchanged(freq);
break;
case MAV_DATA_STREAM_EXTRA3:
streamRateExtra3.set_and_save(freq);
streamRateExtra3.set_and_save_ifchanged(freq);
break;
default: