fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-11 21:55:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: Replace CONFIG_NET with CONFIG_NET_UDP

Browse Source 
Allows use of SocketCAN w/o also enabling UDP support in NuttX
This commit is contained in:
JacobCrabill 2022-03-15 17:22:27 -07:00
parent 8662dd83ab
commit 0a77f87715
3 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/modules/mavlink/mavlink_main.cpp
View File

@ -765,12 +765,12 @@ void Mavlink::send_finish()
else if (get_protocol() == Protocol::UDP) {
# if defined(CONFIG_NET)
# if defined(CONFIG_NET_UDP)
if (_src_addr_initialized) {
# endif // CONFIG_NET
ret = sendto(_socket_fd, _buf, _buf_fill, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
# if defined(CONFIG_NET)
# if defined(CONFIG_NET_UDP)
}
# endif // CONFIG_NET
@ -1849,7 +1849,7 @@ Mavlink::task_main(int argc, char *argv[])
bool err_flag = false;
int myoptind = 1;
const char *myoptarg = nullptr;
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
int temp_int_arg;
#endif
@ -3270,7 +3270,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS1", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true);
PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
@ -3291,7 +3291,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop a running instance");
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
@ -3301,7 +3301,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_ARG("streams", "Print all enabled streams", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stream", "Configure the sending rate of a stream for a running instance");
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);

4
src/modules/mavlink/mavlink_main.h
View File

@ -53,7 +53,7 @@
#include <sys/socket.h>
#endif
#if defined(CONFIG_NET) || !defined(__PX4_NUTTX)
#if defined(CONFIG_NET_UDP) || !defined(__PX4_NUTTX)
#include <net/if.h>
#include <netinet/in.h>
#endif
@ -90,7 +90,7 @@
#define HASH_PARAM "_HASH_CHECK"
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
# define MAVLINK_UDP
# define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
#endif // CONFIG_NET || __PX4_POSIX

2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -3091,7 +3091,7 @@ MavlinkReceiver::run()
#if defined(__PX4_POSIX)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1600 * 5];
#elif defined(CONFIG_NET)
#elif defined(CONFIG_NET_UDP)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1000];
#else