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MAVLink app: Add broadcast until GCS is connected

This commit is contained in:
Lorenz Meier 2015-09-19 17:10:15 +02:00
parent 16717dc2d4
commit 2c232567e4
2 changed files with 23 additions and 2 deletions
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24
src/modules/mavlink/mavlink_main.cpp
View File

@ -178,6 +178,9 @@ Mavlink::Mavlink() :
_rate_tx(0.0f),
_rate_txerr(0.0f),
_rate_rx(0.0f),
_myaddr{},
_src_addr{},
_bcast_addr{},
_socket_fd(-1),
_protocol(SERIAL),
_network_port(14556),
@ -883,8 +886,19 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
#else
if (get_protocol() == UDP) {
ret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
struct telemetry_status_s &tstatus = get_rx_status();
/* resend heartbeat via broadcast */
if (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
(tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT) {
(void)sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
}
} else if (get_protocol() == TCP) {
// not implemented, but possible to do so
/* not implemented, but possible to do so */
warnx("TCP transport pending implementation");
}
#endif
@ -975,12 +989,18 @@ Mavlink::init_udp()
return;
}
// set default target address
/* set default target address */
memset((char *)&_src_addr, 0, sizeof(_src_addr));
_src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr);
_src_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
/* default broadcast address */
memset((char *)&_bcast_addr, 0, sizeof(_bcast_addr));
_bcast_addr.sin_family = AF_INET;
inet_aton("255.255.255.255", &_bcast_addr.sin_addr);
_bcast_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP);
#endif
}

1
src/modules/mavlink/mavlink_main.h
View File

@ -417,6 +417,7 @@ private:
#ifdef __PX4_POSIX
struct sockaddr_in _myaddr;
struct sockaddr_in _src_addr;
struct sockaddr_in _bcast_addr;
#endif
int _socket_fd;