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Adopt high latency switching to new MAV_CMD design

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acfloria
2018-04-11 15:15:28 +02:00
committed by Beat Küng
parent fa1586249a
commit 17a157b9da
4 changed files with 14 additions and 38 deletions
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src/modules/mavlink/mavlink_main.cpp
+8 -12
View File
@@ -990,6 +990,7 @@ Mavlink::send_bytes(const uint8_t *buf, unsigned packet_len)
return;
}
_last_write_try_time = hrt_absolute_time();
if (_mavlink_start_time == 0) {
@@ -1036,7 +1037,6 @@ Mavlink::send_bytes(const uint8_t *buf, unsigned packet_len)
_last_write_success_time = _last_write_try_time;
count_txbytes(packet_len);
}
}
void
@@ -2200,18 +2200,14 @@ Mavlink::task_main(int argc, char *argv[])
struct vehicle_command_s vehicle_cmd;
if (cmd_sub->update(&cmd_time, &vehicle_cmd)) {
if (vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_MAVLINK_ENABLE_SENDING) {
if (_mode == (int)roundf(vehicle_cmd.param1)) {
if (_transmitting_enabled != (int)vehicle_cmd.param2) {
if ((int)vehicle_cmd.param2) {
PX4_INFO("Enable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && (_mode == MAVLINK_MODE_IRIDIUM)) {
if (!_transmitting_enabled && (vehicle_cmd.param1 > 0.5f)) {
PX4_INFO("Enable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
_transmitting_enabled = true;
} else {
PX4_INFO("Disable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
}
_transmitting_enabled = (int)vehicle_cmd.param2;
}
} else if (_transmitting_enabled && (vehicle_cmd.param1 <= 0.5f)) {
PX4_INFO("Disable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
_transmitting_enabled = false;
}
}
}
src/modules/mavlink/mavlink_messages.cpp
+1 -1
View File
@@ -4202,7 +4202,7 @@ protected:
// failure flags, requires an initial value of 0, set by the default values
if (_status_flags_time > 0) {
if (status_flags.gps_failure || !status_flags.condition_global_position_valid) {
if (!status_flags.condition_global_position_valid) { //TODO check if there is a better way to get only GPS failure
msg.failure_flags |= HL_FAILURE_FLAG_GPS;
}