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mavlink: UART receiver major cleanup

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This commit is contained in:
Anton Babushkin 2014-03-04 00:26:26 +04:00
parent cb8095c5ac
commit 3107f4d62c
2 changed files with 444 additions and 437 deletions
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824
src/modules/mavlink/mavlink_receiver.cpp
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57
src/modules/mavlink/mavlink_receiver.h
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@ -100,7 +100,6 @@ public:
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
@ -109,37 +108,29 @@ private:
void *receive_thread(void *arg);
mavlink_status_t status;
struct vehicle_vicon_position_s vicon_position;
struct vehicle_command_s vcmd;
struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_attitude_s hil_attitude;
struct vehicle_gps_position_s hil_gps;
struct sensor_combined_s hil_sensors;
struct battery_status_s hil_battery_status;
struct position_setpoint_triplet_s pos_sp_triplet;
orb_advert_t pub_hil_global_pos;
orb_advert_t pub_hil_local_pos;
orb_advert_t pub_hil_attitude;
orb_advert_t pub_hil_gps;
orb_advert_t pub_hil_sensors;
orb_advert_t pub_hil_gyro;
orb_advert_t pub_hil_accel;
orb_advert_t pub_hil_mag;
orb_advert_t pub_hil_baro;
orb_advert_t pub_hil_airspeed;
orb_advert_t pub_hil_battery;
int hil_counter;
int hil_frames;
uint64_t old_timestamp;
orb_advert_t cmd_pub;
orb_advert_t flow_pub;
orb_advert_t offboard_control_sp_pub;
orb_advert_t vicon_position_pub;
orb_advert_t telemetry_status_pub;
int32_t lat0;
int32_t lon0;
float alt0;
int _manual_sub;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
orb_advert_t _attitude_pub;
orb_advert_t _gps_pub;
orb_advert_t _sensors_pub;
orb_advert_t _gyro_pub;
orb_advert_t _accel_pub;
orb_advert_t _mag_pub;
orb_advert_t _baro_pub;
orb_advert_t _airspeed_pub;
orb_advert_t _battery_pub;
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
int _hil_counter;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;
float _hil_local_alt0;
};