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MAVLink: Allow data rate updates

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Lorenz Meier
2016-06-21 16:38:53 +02:00
parent 1869ffd15f
commit 2f113a4ce3
3 changed files with 14 additions and 3 deletions
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src/modules/mavlink/mavlink_main.h
+3
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@@ -417,6 +417,9 @@ public:
void set_logging_enabled(bool logging) { _logging_enabled = logging; } void set_logging_enabled(bool logging) { _logging_enabled = logging; }
int get_data_rate() { return _datarate; }
void set_data_rate(int rate) { if (rate > 0) _datarate = rate; }
protected: protected:
Mavlink *next; Mavlink *next;
src/modules/mavlink/mavlink_receiver.cpp
+6 -2
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@@ -360,7 +360,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
_mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f); _mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);
} else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) { } else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
set_message_interval((int)cmd_mavlink.param1, cmd_mavlink.param2); set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3);
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) { } else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1); get_message_interval((int)cmd_mavlink.param1);
@@ -1402,8 +1402,12 @@ MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
} }
void void
MavlinkReceiver::set_message_interval(int msgId, float interval) MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
{ {
if (data_rate > 0) {
_mavlink->set_data_rate(data_rate);
}
// configure_stream wants a rate (msgs/second), so convert here. // configure_stream wants a rate (msgs/second), so convert here.
float rate = 0; float rate = 0;
src/modules/mavlink/mavlink_receiver.h
+5 -1
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@@ -148,8 +148,12 @@ private:
/** /**
* Set the interval at which the given message stream is published. * Set the interval at which the given message stream is published.
* The rate is the number of messages per second. * The rate is the number of messages per second.
*
* @param msgId the message ID of to change the interval of
* @param interval the interval in us to send the message at
* @param data_rate the total link data rate in bytes per second
*/ */
void set_message_interval(int msgId, float rate); void set_message_interval(int msgId, float interval, int data_rate=-1);
void get_message_interval(int msgId); void get_message_interval(int msgId);
/** /**