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Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

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Conflicts:
	src/modules/mavlink/mavlink_main.cpp
This commit is contained in:
Thomas Gubler
2014-07-23 09:31:28 +02:00
parent 8bb1f9a4bf a7d2963e2b
commit 825b84fa3b
75 changed files with 2163 additions and 557 deletions
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src/modules/mavlink/mavlink_main.h
+37 -4
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@@ -51,6 +51,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/telemetry_status.h>
#include "mavlink_bridge_header.h"
#include "mavlink_orb_subscription.h"
@@ -97,6 +98,8 @@ public:
static int destroy_all_instances();
static int get_status_all_instances();
static bool instance_exists(const char *device_name, Mavlink *self);
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
@@ -231,6 +234,26 @@ public:
*/
void count_txerr();
/**
* Count transmitted bytes
*/
void count_txbytes(unsigned n) { _bytes_tx += n; };
/**
* Count bytes not transmitted because of errors
*/
void count_txerrbytes(unsigned n) { _bytes_txerr += n; };
/**
* Count received bytes
*/
void count_rxbytes(unsigned n) { _bytes_rx += n; };
/**
* Get the receive status of this MAVLink link
*/
struct telemetry_status_s& get_rx_status() { return _rstatus; }
protected:
Mavlink *next;
@@ -253,13 +276,13 @@ private:
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
MavlinkMissionManager *_mission_manager;
MavlinkMissionManager *_mission_manager;
orb_advert_t _mission_pub;
orb_advert_t _mission_pub;
int _mission_result_sub;
MAVLINK_MODE _mode;
MAVLINK_MODE _mode;
mavlink_channel_t _channel;
mavlink_channel_t _channel;
struct mavlink_logbuffer _logbuffer;
unsigned int _total_counter;
@@ -288,6 +311,16 @@ private:
bool _flow_control_enabled;
unsigned _bytes_tx;
unsigned _bytes_txerr;
unsigned _bytes_rx;
uint64_t _bytes_timestamp;
float _rate_tx;
float _rate_txerr;
float _rate_rx;
struct telemetry_status_s _rstatus; ///< receive status
struct mavlink_message_buffer {
int write_ptr;
int read_ptr;