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GCS_MAVLink: make capabilities comes from subclass, not HAL

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Peter Barker 2018-03-29 11:49:34 +11:00 committed by Peter Barker
parent 8cfedd8b46
commit bfb3f0d62e
2 changed files with 22 additions and 3 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -281,6 +281,8 @@ public:
// vehicle subclass cpp files should define this:
static const struct stream_entries all_stream_entries[];
virtual uint64_t capabilities() const;
protected:
virtual bool in_hil_mode() const { return false; }

23
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -156,8 +156,6 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
// if signing is off start by sending MAVLink1.
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
// announce that we are MAVLink2 capable
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MAVLINK2);
} else if (status) {
// user has asked to only send MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
@ -2117,7 +2115,7 @@ void GCS_MAVLINK::send_autopilot_version() const
mavlink_msg_autopilot_version_send(
chan,
hal.util->get_capabilities(),
capabilities(),
flight_sw_version,
middleware_sw_version,
os_sw_version,
@ -4388,6 +4386,25 @@ bool GCS_MAVLINK::mavlink_coordinate_frame_to_location_alt_frame(const uint8_t c
}
}
uint64_t GCS_MAVLINK::capabilities() const
{
uint64_t ret = 0;
AP_SerialManager::SerialProtocol mavlink_protocol = serialmanager_p->get_mavlink_protocol(chan);
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2) {
ret |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
}
AP_AdvancedFailsafe *failsafe = get_advanced_failsafe();
if (failsafe != nullptr && failsafe->enabled()) {
// Copter and Sub may also set this bit as they can always terminate
ret |= MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION;
}
return ret;
}
GCS &gcs()
{
return *GCS::get_singleton();