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Print mavlink radio module rates

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Lorenz Meier
2014-07-23 08:18:45 +02:00
parent ed9f9ec864
commit 0c0b1a4c66
3 changed files with 59 additions and 5 deletions
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src/modules/mavlink/mavlink_main.cpp
+48 -3
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@@ -247,6 +247,7 @@ Mavlink::Mavlink() :
_subscribe_to_stream(nullptr),
_subscribe_to_stream_rate(0.0f),
_flow_control_enabled(true),
_rstatus{},
_message_buffer{},
_message_buffer_mutex{},
_param_initialized(false),
@@ -424,6 +425,29 @@ Mavlink::destroy_all_instances()
return OK;
}
int
Mavlink::get_status_all_instances()
{
Mavlink *inst = ::_mavlink_instances;
unsigned iterations = 0;
warnx("waiting for instances to stop");
while (inst != nullptr) {
printf("instance #%u:\n", iterations);
inst->display_status();
/* move on */
inst = inst->next;
iterations++;
}
/* return an error if there are no instances */
return (iterations == 0);
}
bool
Mavlink::instance_exists(const char *device_name, Mavlink *self)
{
@@ -1395,7 +1419,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f * rate_mult);
configure_stream("ATTITUDE", 10.0f * rate_mult);
configure_stream("VFR_HUD", 10.0f * rate_mult);
configure_stream("VFR_HUD", 8.0f * rate_mult);
configure_stream("GPS_RAW_INT", 1.0f * rate_mult);
configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult);
configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult);
@@ -1665,6 +1689,27 @@ void
Mavlink::display_status()
{
warnx("running");
if (_rstatus.timestamp > 0) {
printf("\ttime:\t%llu\tus\n", _rstatus.heartbeat_time);
switch (_rstatus.type) {
case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("\t3DR RADIO\n");
break;
default:
printf("\tUNKNOWN RADIO\n");
break;
}
printf("\trssi:\t%d\t\n", _rstatus.rssi);
printf("\tremote rssi:\t%u\tus\n", _rstatus.remote_rssi);
printf("\ttxbuf:\t%u\tus\n", _rstatus.txbuf);
printf("\tnoise:\t%d\tus\n", _rstatus.noise);
printf("\tremote noise:\t%u\tus\n", _rstatus.remote_noise);
printf("\trx errors:\t%u\tus\n", _rstatus.rxerrors);
printf("\tfixed:\t%u\tus\n", _rstatus.fixed);
}
}
int
@@ -1752,8 +1797,8 @@ int mavlink_main(int argc, char *argv[])
} else if (!strcmp(argv[1], "stop-all")) {
return Mavlink::destroy_all_instances();
// } else if (!strcmp(argv[1], "status")) {
// mavlink::g_mavlink->status();
} else if (!strcmp(argv[1], "status")) {
return Mavlink::get_status_all_instances();
} else if (!strcmp(argv[1], "stream")) {
return Mavlink::stream_command(argc, argv);