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Not building yet, things are coming together slowly on mavlink app

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This commit is contained in:
Lorenz Meier
2014-01-28 19:30:23 +01:00
parent e28910127d
commit 1e3d2acbf6
6 changed files with 421 additions and 316 deletions
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src/modules/mavlink/mavlink_main.cpp
+11 -7
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@@ -56,7 +56,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -196,6 +195,11 @@ Mavlink::~Mavlink()
}
}
void Mavlink::set_mode(enum MAVLINK_MODE mode)
{
_mode = mode;
}
int Mavlink::instance_count()
{
/* note: a local buffer count will help if this ever is called often */
@@ -1506,7 +1510,7 @@ Mavlink::task_main(int argc, char *argv[])
break;
case 'o':
mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
_mode = MODE_ONBOARD;
break;
default:
@@ -1523,7 +1527,7 @@ Mavlink::task_main(int argc, char *argv[])
warnx("MAVLink v1.0 serial interface starting...");
/* inform about mode */
warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
warnx((_mode == MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
/* Flush stdout in case MAVLink is about to take it over */
fflush(stdout);
@@ -1541,12 +1545,12 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_update_system();
/* start the MAVLink receiver */
MavlinkReceiver rcv(this);
receive_thread = rcv.receive_start(uart);
// MavlinkReceiver rcv(this);
receive_thread = MavlinkReceiver::receive_start(this);
/* start the ORB receiver */
MavlinkOrbListener listener(this);
uorb_receive_thread = listener.uorb_receive_start();
//MavlinkOrbListener listener(this);
uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this);
/* initialize waypoint manager */
mavlink_wpm_init(wpm);