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Cleanup of heartbeat handling and status printing. Ready to go mainline

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This commit is contained in:
Lorenz Meier
2014-07-19 15:56:37 +02:00
parent 0c0b1a4c66
commit 91becef344
4 changed files with 32 additions and 24 deletions
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src/modules/mavlink/mavlink_main.cpp
+18 -14
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@@ -432,11 +432,9 @@ Mavlink::get_status_all_instances()
unsigned iterations = 0;
warnx("waiting for instances to stop");
while (inst != nullptr) {
printf("instance #%u:\n", iterations);
printf("\ninstance #%u:\n", iterations);
inst->display_status();
/* move on */
@@ -1688,27 +1686,33 @@ Mavlink::start(int argc, char *argv[])
void
Mavlink::display_status()
{
warnx("running");
if (_rstatus.heartbeat_time > 0) {
printf("\theartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time));
}
if (_rstatus.timestamp > 0) {
printf("\ttime:\t%llu\tus\n", _rstatus.heartbeat_time);
printf("\ttype:\t\t");
switch (_rstatus.type) {
case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("\t3DR RADIO\n");
printf("3DR RADIO\n");
break;
default:
printf("\tUNKNOWN RADIO\n");
printf("UNKNOWN RADIO\n");
break;
}
printf("\trssi:\t%d\t\n", _rstatus.rssi);
printf("\tremote rssi:\t%u\tus\n", _rstatus.remote_rssi);
printf("\ttxbuf:\t%u\tus\n", _rstatus.txbuf);
printf("\tnoise:\t%d\tus\n", _rstatus.noise);
printf("\tremote noise:\t%u\tus\n", _rstatus.remote_noise);
printf("\trx errors:\t%u\tus\n", _rstatus.rxerrors);
printf("\tfixed:\t%u\tus\n", _rstatus.fixed);
printf("\trssi:\t\t%d\n", _rstatus.rssi);
printf("\tremote rssi:\t%u\n", _rstatus.remote_rssi);
printf("\ttxbuf:\t\t%u\n", _rstatus.txbuf);
printf("\tnoise:\t\t%d\n", _rstatus.noise);
printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
printf("\trx errors:\t%u\n", _rstatus.rxerrors);
printf("\tfixed:\t\t%u\n", _rstatus.fixed);
} else {
printf("\tno telem status.\n");
}
}