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Copter: let AP_Vehicle base class worry about scheduler delay callback

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Peter Barker 2020-01-16 14:05:40 +11:00 committed by Andrew Tridgell
parent 024c86bdab
commit 9466126fa8
3 changed files with 2 additions and 37 deletions
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1
ArduCopter/Copter.h
View File

@ -976,7 +976,6 @@ private:
void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode); void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
public: public:
void mavlink_delay_cb(); // GCS_Mavlink.cpp
void failsafe_check(); // failsafe.cpp void failsafe_check(); // failsafe.cpp
}; };

26
ArduCopter/GCS_Mavlink.cpp
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@ -1246,32 +1246,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
* MAVLink to process packets while waiting for the initialisation to * MAVLink to process packets while waiting for the initialisation to
* complete * complete
*/ */
void Copter::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
logger.EnableWrites(false);
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs().update_receive();
gcs().update_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
logger.EnableWrites(true);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) { MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
MAV_RESULT result = MAV_RESULT_FAILED; MAV_RESULT result = MAV_RESULT_FAILED;

12
ArduCopter/system.cpp
View File

@ -8,12 +8,6 @@
* *
*****************************************************************************/ *****************************************************************************/
static void mavlink_delay_cb_static()
{
copter.mavlink_delay_cb();
}
static void failsafe_check_static() static void failsafe_check_static()
{ {
copter.failsafe_check(); copter.failsafe_check();
@ -50,10 +44,8 @@ void Copter::init_ardupilot()
// setup first port early to allow BoardConfig to report errors // setup first port early to allow BoardConfig to report errors
gcs().setup_console(); gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have register_scheduler_delay_callback();
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
BoardConfig.init(); BoardConfig.init();
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
BoardConfig_CAN.init(); BoardConfig_CAN.init();