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APMRover: integrate Serial Manager instance

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This commit is contained in:
Randy Mackay 2015-03-27 18:51:31 -07:00
parent ab749f884f
commit ff1d6dea61
1 changed files with 4 additions and 4 deletions
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8
APMrover2/system.pde
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@ -103,7 +103,7 @@ static void init_ardupilot()
barometer.init();
// init the GCS
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console);
gcs[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_Console, 0);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
@ -111,11 +111,11 @@ static void init_ardupilot()
check_usb_mux();
// setup serial port for telem1
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink1);
gcs[1].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
#if MAVLINK_COMM_NUM_BUFFERS > 2
// setup serial port for telem2
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink2);
gcs[2].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 1);
#endif
// setup frsky telemetry
@ -426,7 +426,7 @@ static void check_usb_mux(void)
if (usb_connected) {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_Console);
} else {
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink1);
serial_manager.set_console_baud(AP_SerialManager::SerialProtocol_MAVLink, 0);
}
#endif
}