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Copter: split SYS_STATUS and POWER_STATUS onto separate ap_messages

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Peter Barker 2018-12-18 13:08:11 +11:00 committed by Peter Barker
parent 06d2f97861
commit f8a05564e8
2 changed files with 14 additions and 10 deletions
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20
ArduCopter/GCS_Mavlink.cpp
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@ -254,6 +254,10 @@ uint32_t GCS_MAVLINK_Copter::telem_delay() const
return (uint32_t)(copter.g.telem_delay); return (uint32_t)(copter.g.telem_delay);
} }
bool GCS_MAVLINK_Copter::vehicle_initialised() const {
return copter.ap.initialised;
}
// try to send a message, return false if it wasn't sent // try to send a message, return false if it wasn't sent
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id) bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{ {
@ -277,17 +281,14 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
switch(id) { switch(id) {
case MSG_EXTENDED_STATUS1: case MSG_SYS_STATUS:
// send extended status only once vehicle has been initialised // send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user // to avoid unnecessary errors being reported to user
if (copter.ap.initialised) { if (!vehicle_initialised()) {
if (PAYLOAD_SIZE(chan, SYS_STATUS) + return true;
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
} }
CHECK_PAYLOAD_SIZE(SYS_STATUS);
copter.send_sys_status(chan); copter.send_sys_status(chan);
send_power_status();
}
break; break;
case MSG_NAV_CONTROLLER_OUTPUT: case MSG_NAV_CONTROLLER_OUTPUT:
@ -445,7 +446,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_SENSOR_OFFSETS MSG_SENSOR_OFFSETS
}; };
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO, MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW, MSG_GPS_RAW,
@ -1443,7 +1445,7 @@ void Copter::mavlink_delay_cb()
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
last_1hz = tnow; last_1hz = tnow;
gcs_send_heartbeat(); gcs_send_heartbeat();
gcs().send_message(MSG_EXTENDED_STATUS1); gcs().send_message(MSG_SYS_STATUS);
} }
if (tnow - last_50hz > 20) { if (tnow - last_50hz > 20) {
last_50hz = tnow; last_50hz = tnow;

2
ArduCopter/GCS_Mavlink.h
View File

@ -47,6 +47,8 @@ private:
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
bool vehicle_initialised() const override;
void packetReceived(const mavlink_status_t &status, void packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg) override; mavlink_message_t &msg) override;