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Merge branch 'beta_mavlink2' into beta_mavlink2_flow_control

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This commit is contained in:
Lorenz Meier
2014-03-12 10:02:22 +01:00
parent 023c7069c4 2d2ecbad00
commit 069cba6338
2 changed files with 10 additions and 11 deletions
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src/modules/mavlink/mavlink_main.cpp
+9 -10
View File
@@ -711,7 +711,7 @@ int Mavlink::mavlink_pm_send_param(param_t param)
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
_channel,
&tx_msg,
name_buf,
val_buf,
@@ -906,7 +906,7 @@ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpa);
mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); }
@@ -929,7 +929,7 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq)
wpc.seq = seq;
mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc);
mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
} else if (seq == 0 && _wpm->size == 0) {
@@ -952,7 +952,7 @@ void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uin
wpc.target_component = compid;
wpc.count = mission.count;
mavlink_msg_mission_count_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc);
mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); }
@@ -983,7 +983,7 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
mavlink_msg_mission_item_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp);
mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); }
@@ -1003,7 +1003,7 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpr);
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); }
@@ -1029,7 +1029,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp_reached);
mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); }
@@ -1498,7 +1498,7 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
statustext.text[i] = '\0';
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
mavlink_msg_statustext_encode_chan(mavlink_system.sysid, mavlink_system.compid, _channel, &msg, &statustext);
mavlink_missionlib_send_message(&msg);
return OK;
@@ -1611,7 +1611,6 @@ Mavlink::task_main(int argc, char *argv[])
int ch;
_baudrate = 57600;
_datarate = 0;
_channel = MAVLINK_COMM_0;
_mode = MODE_OFFBOARD;
@@ -1826,7 +1825,7 @@ Mavlink::task_main(int argc, char *argv[])
_mavlink_param_queue_index = param_count();
MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(20000.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY / rate_mult;
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -912,7 +912,7 @@ MavlinkReceiver::receive_thread(void *arg)
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
_mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
}
}
}