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MAVLink app: Do not accept config commands on wireless links when USB is connected

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This commit is contained in:
Lorenz Meier
2016-04-30 09:15:06 +02:00
parent 796af52df2
commit ae123d9e20
3 changed files with 44 additions and 14 deletions
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src/modules/mavlink/mavlink_main.cpp
+19 -10
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@@ -121,6 +121,7 @@ extern mavlink_system_t mavlink_system;
static void usage(void);
bool Mavlink::_boot_complete = false;
bool Mavlink::_config_link_on = false;
Mavlink::Mavlink() :
_device_name("/dev/ttyS1"),
@@ -654,7 +655,6 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
return _uart_fd;
}
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
@@ -1137,6 +1137,10 @@ Mavlink::init_udp()
void
Mavlink::handle_message(const mavlink_message_t *msg)
{
if (!accepting_commands()) {
return;
}
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
@@ -1931,6 +1935,11 @@ Mavlink::task_main(int argc, char *argv[])
_main_loop_delay = 2000;
}
/* hard limit to 100 Hz at least */
if (_main_loop_delay > 10000) {
_main_loop_delay = 10000;
}
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);
@@ -2274,6 +2283,13 @@ Mavlink::display_status()
switch (_rstatus.type) {
case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("3DR RADIO\n");
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);
break;
case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB:
@@ -2285,24 +2301,17 @@ Mavlink::display_status()
break;
}
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);
printf("\tflow control:\t%s\n", (_flow_control_enabled) ? "ON" : "OFF");
} else {
printf("\tno telem status.\n");
}
printf("\tflow control:\t%s\n", (_flow_control_enabled) ? "ON" : "OFF");
printf("\trates:\n");
printf("\ttx: %.3f kB/s\n", (double)_rate_tx);
printf("\ttxerr: %.3f kB/s\n", (double)_rate_txerr);
printf("\trx: %.3f kB/s\n", (double)_rate_rx);
printf("\trate mult: %.3f\n", (double)_rate_mult);
printf("\taccepting commands: %s\n", (accepting_commands()) ? "YES" : "NO");
}
int