forked from Archive/PX4-Autopilot
Delete unnecessary #includes from mavlink_main.cpp and relocate a few #defines to mavlink_main.h for future variable initialization work.
This commit is contained in:
mcsauder
Daniel Agar
parent
77ab9b617e
commit
cb49ed55fe
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@ -40,22 +40,7 @@
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_module.h>
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#include <px4_cli.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <assert.h>
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#include <math.h>
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#include <termios.h>
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#include <time.h>
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#ifdef CONFIG_NET
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#include <arpa/inet.h>
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@ -63,34 +48,12 @@
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#include <netutils/netlib.h>
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#endif
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_hrt.h>
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#include <arch/board/board.h>
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#include <parameters/param.h>
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#include <systemlib/err.h>
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#include <perf/perf_counter.h>
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#include <systemlib/mavlink_log.h>
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#include <lib/ecl/geo/geo.h>
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#include <dataman/dataman.h>
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#include <version/version.h>
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#include <mathlib/mathlib.h>
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#include <version/version.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/mavlink_log.h>
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#include "mavlink_bridge_header.h"
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#include "mavlink_main.h"
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#include "mavlink_messages.h"
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#include "mavlink_receiver.h"
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#include "mavlink_rate_limiter.h"
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#include "mavlink_command_sender.h"
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#include "mavlink_main.h"
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// Guard against MAVLink misconfiguration
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#ifndef MAVLINK_CRC_EXTRA
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@ -108,17 +71,14 @@
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#define MAVLINK_NET_ADDED_STACK 0
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#endif
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#define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
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#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
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#define MAX_DATA_RATE 10000000 ///< max data rate in bytes/s
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#define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate
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#define FLOW_CONTROL_DISABLE_THRESHOLD 40 ///< picked so that some messages still would fit it.
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//#define MAVLINK_PRINT_PACKETS
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#define FLOW_CONTROL_DISABLE_THRESHOLD 40 ///< picked so that some messages still would fit it.
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#define MAX_DATA_RATE 10000000 ///< max data rate in bytes/s
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#define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate
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static Mavlink *_mavlink_instances = nullptr;
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/**
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* mavlink app start / stop handling function
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* Mavlink app start / stop handling function.
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*
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* @ingroup apps
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*/
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@ -42,44 +42,51 @@
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#pragma once
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#include <px4_posix.h>
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#include <px4_module_params.h>
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#include <pthread.h>
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#include <stdbool.h>
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#ifdef __PX4_NUTTX
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#include <nuttx/fs/fs.h>
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#else
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#include <sys/socket.h>
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#include <arpa/inet.h>
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#include <drivers/device/device.h>
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#include <sys/socket.h>
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#endif
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#if defined(CONFIG_NET) || !defined(__PX4_NUTTX)
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#include <netinet/in.h>
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#include <net/if.h>
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#include <netinet/in.h>
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#endif
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#include <containers/List.hpp>
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#include <systemlib/uthash/utlist.h>
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#include <drivers/device/ringbuffer.h>
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#include <parameters/param.h>
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#include <perf/perf_counter.h>
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#include <pthread.h>
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#include <px4_cli.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <px4_posix.h>
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#include <systemlib/mavlink_log.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/mission.h>
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#include <systemlib/uthash/utlist.h>
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#include <uORB/topics/mavlink_log.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/radio_status.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/uORB.h>
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#include "mavlink_bridge_header.h"
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#include "mavlink_orb_subscription.h"
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#include "mavlink_stream.h"
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#include "mavlink_command_sender.h"
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#include "mavlink_messages.h"
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#include "mavlink_orb_subscription.h"
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#include "mavlink_shell.h"
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#include "mavlink_ulog.h"
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#define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
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#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
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#define HASH_PARAM "_HASH_CHECK"
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enum Protocol {
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SERIAL = 0,
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UDP,
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@ -88,8 +95,6 @@ enum Protocol {
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using namespace time_literals;
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#define HASH_PARAM "_HASH_CHECK"
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class Mavlink : public ModuleParams
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{
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