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mavlink: integrate MavlinkULog into the main Mavlink task & receiver

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This commit is contained in:
Beat Küng
2016-10-19 13:13:47 +02:00
committed by Lorenz Meier
parent 57d85de4d1
commit 7d72f31a29
4 changed files with 67 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+26
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@@ -266,6 +266,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_serial_control(msg);
break;
case MAVLINK_MSG_ID_LOGGING_ACK:
handle_message_logging_ack(msg);
break;
default:
break;
}
@@ -380,6 +384,16 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
return;
}
if (cmd_mavlink.command == MAV_CMD_LOGGING_START) {
// we already instanciate the streaming object, because at this point we know on which
// mavlink channel streaming was requested. But in fact it's possible that the logger is
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming();
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
@@ -1220,6 +1234,18 @@ MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg)
{
mavlink_logging_ack_t logging_ack;
mavlink_msg_logging_ack_decode(msg, &logging_ack);
MavlinkULog *ulog_streaming = _mavlink->get_ulog_streaming();
if (ulog_streaming) {
ulog_streaming->handle_ack(logging_ack);
}
}
switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{