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Copter: move data stream send up

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This commit is contained in:
Peter Barker 2017-08-21 12:07:25 +10:00 committed by Andrew Tridgell
parent 417e9e9aaf
commit e90ce4ced9
2 changed files with 66 additions and 100 deletions
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164
ArduCopter/GCS_Mavlink.cpp
View File

@ -555,107 +555,75 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
void static const uint8_t STREAM_RAW_SENSORS_msgs[] = {
GCS_MAVLINK_Copter::data_stream_send(void) MSG_RAW_IMU1, // RAW_IMU, SCALED_IMU2, SCALED_IMU3
{ MSG_RAW_IMU2, // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
if (waypoint_receiving) { MSG_RAW_IMU3 // SENSOR_OFFSETS
// don't interfere with mission transfer };
return; static const uint8_t STREAM_EXTENDED_STATUS_msgs[] = {
} MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
MSG_EXTENDED_STATUS2, // MEMINFO
gcs().set_out_of_time(false); MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW,
send_queued_parameters(); MSG_GPS_RTK,
MSG_GPS2_RAW,
if (gcs().out_of_time()) return; MSG_GPS2_RTK,
MSG_NAV_CONTROLLER_OUTPUT,
if (hal.scheduler->in_delay_callback()) { MSG_FENCE_STATUS
// don't send any other stream types while in the delay callback };
return; static const uint8_t STREAM_POSITION_msgs[] = {
} MSG_LOCATION,
MSG_LOCAL_POSITION
if (stream_trigger(STREAM_RAW_SENSORS)) { };
send_message(MSG_RAW_IMU1); // RAW_IMU, SCALED_IMU2, SCALED_IMU3 static const uint8_t STREAM_RAW_CONTROLLER_msgs[] = {
send_message(MSG_RAW_IMU2); // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 };
send_message(MSG_RAW_IMU3); // SENSOR_OFFSETS static const uint8_t STREAM_RC_CHANNELS_msgs[] = {
} MSG_SERVO_OUTPUT_RAW,
MSG_RADIO_IN // RC_CHANNELS_RAW, RC_CHANNELS
if (gcs().out_of_time()) return; };
static const uint8_t STREAM_EXTRA1_msgs[] = {
if (stream_trigger(STREAM_EXTENDED_STATUS)) { MSG_ATTITUDE,
send_message(MSG_EXTENDED_STATUS1); // SYS_STATUS, POWER_STATUS MSG_SIMSTATE, // SIMSTATE, AHRS2
send_message(MSG_EXTENDED_STATUS2); // MEMINFO MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
send_message(MSG_CURRENT_WAYPOINT); // MISSION_CURRENT };
send_message(MSG_GPS_RAW); static const uint8_t STREAM_EXTRA2_msgs[] = {
send_message(MSG_GPS_RTK); MSG_VFR_HUD
send_message(MSG_GPS2_RAW); };
send_message(MSG_GPS2_RTK); static const uint8_t STREAM_EXTRA3_msgs[] = {
send_message(MSG_NAV_CONTROLLER_OUTPUT); MSG_AHRS,
send_message(MSG_FENCE_STATUS); MSG_HWSTATUS,
} MSG_SYSTEM_TIME,
MSG_RANGEFINDER,
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_POSITION)) {
send_message(MSG_LOCATION);
send_message(MSG_LOCAL_POSITION);
}
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
}
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_SERVO_OUTPUT_RAW);
send_message(MSG_RADIO_IN); // RC_CHANNELS_RAW, RC_CHANNELS
}
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE); // SIMSTATE, AHRS2
send_message(MSG_PID_TUNING); // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
}
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (gcs().out_of_time()) return;
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_SYSTEM_TIME);
send_message(MSG_RANGEFINDER);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
send_message(MSG_TERRAIN); MSG_TERRAIN,
#endif #endif
send_message(MSG_BATTERY2); MSG_BATTERY2,
send_message(MSG_BATTERY_STATUS); MSG_BATTERY_STATUS,
send_message(MSG_MOUNT_STATUS); MSG_MOUNT_STATUS,
send_message(MSG_OPTICAL_FLOW); MSG_OPTICAL_FLOW,
send_message(MSG_GIMBAL_REPORT); MSG_GIMBAL_REPORT,
send_message(MSG_MAG_CAL_REPORT); MSG_MAG_CAL_REPORT,
send_message(MSG_MAG_CAL_PROGRESS); MSG_MAG_CAL_PROGRESS,
send_message(MSG_EKF_STATUS_REPORT); MSG_EKF_STATUS_REPORT,
send_message(MSG_VIBRATION); MSG_VIBRATION,
send_message(MSG_RPM); MSG_RPM
} };
static const uint8_t STREAM_ADSB_msgs[] = {
if (gcs().out_of_time()) return; MSG_ADSB_VEHICLE
};
if (stream_trigger(STREAM_ADSB)) {
send_message(MSG_ADSB_VEHICLE);
}
}
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
// MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd) bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{ {

2
ArduCopter/GCS_Mavlink.h
View File

@ -10,8 +10,6 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
public: public:
void data_stream_send(void) override;
protected: protected:
uint32_t telem_delay() const override; uint32_t telem_delay() const override;