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GCS_MAVLink: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing

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These are a per-vehicle thing, not a per-mavlink-backend thing.
This commit is contained in:
Peter Barker 2019-02-14 11:39:32 +11:00 committed by Peter Barker
parent 624f196fb3
commit cb33f290a7
4 changed files with 5 additions and 4 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -301,7 +301,6 @@ protected:
virtual MAV_MODE base_mode() const = 0;
virtual uint32_t custom_mode() const = 0;
virtual MAV_STATE system_status() const = 0;
virtual void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) = 0;
bool waypoint_receiving; // currently receiving
// the following two variables are only here because of Tracker
@ -775,6 +774,8 @@ public:
// update uart pass-thru
void update_passthru();
virtual void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) = 0;
private:
static GCS *_singleton;

2
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3804,7 +3804,7 @@ void GCS_MAVLINK::send_sys_status()
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
get_sensor_status_flags(control_sensors_present, control_sensors_enabled, control_sensors_health);
gcs().get_sensor_status_flags(control_sensors_present, control_sensors_enabled, control_sensors_health);
mavlink_msg_sys_status_send(
chan,

3
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -32,7 +32,6 @@ protected:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; }
@ -54,4 +53,6 @@ class GCS_Dummy : public GCS
const GCS_MAVLINK_Dummy &chan(const uint8_t ofs) const override { return dummy_backend; };
void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text) { hal.console->printf("TOGCS: %s\n", text); }
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
};

1
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -38,7 +38,6 @@ protected:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health) override { present = 0; enabled = 0; health = 0; }
void send_nav_controller_output() const override {};
bool set_home_to_current_location(bool lock) override { return false; }