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mavlink: new message sending API, includes fixed

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Anton Babushkin
2014-07-23 11:11:49 +02:00
parent 344a34bb72
commit a5f2d1b066
9 changed files with 1716 additions and 1877 deletions
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src/modules/mavlink/mavlink_main.h
+11 -47
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@@ -58,7 +58,7 @@
#include "mavlink_stream.h"
#include "mavlink_messages.h"
#include "mavlink_mission.h"
#include "mavlink_parameters.h"
class Mavlink
{
@@ -160,11 +160,7 @@ public:
*/
int set_hil_enabled(bool hil_enabled);
bool check_can_send(const int prio, const unsigned packet_len);
void send_message(const uint8_t msgid, const void *msg, const int prio);
void send_message(const mavlink_message_t *msg);
void send_message(const uint8_t msgid, const void *msg);
void handle_message(const mavlink_message_t *msg);
@@ -285,6 +281,7 @@ private:
MavlinkStream *_streams;
MavlinkMissionManager *_mission_manager;
MavlinkParametersManager *_parameters_manager;
orb_advert_t _mission_pub;
int _mission_result_sub;
@@ -305,6 +302,7 @@ private:
int _baudrate;
int _datarate; ///< data rate for normal streams (attitude, position, etc.)
int _datarate_events; ///< data rate for params, waypoints, text messages
float _rate_mult;
/**
* If the queue index is not at 0, the queue sending
@@ -352,51 +350,12 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _txerr_perf; /**< TX error counter */
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send();
void mavlink_update_system();
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
static unsigned int interval_from_rate(float rate);
int configure_stream(const char *stream_name, const float rate);
/**
@@ -420,6 +379,11 @@ private:
void pass_message(const mavlink_message_t *msg);
/**
* Update rate mult so total bitrate will be equal to _datarate.
*/
void update_rate_mult();
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
/**