fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 11:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: switch to events

Browse Source
This commit is contained in:
Beat Küng
2021-09-11 14:08:41 -04:00
committed by Daniel Agar
parent 90940c3672
commit b31276a4f5
4 changed files with 118 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+14 -4
View File
@@ -54,6 +54,8 @@
#include <lib/systemlib/mavlink_log.h>
#include <lib/version/version.h>
#include <px4_platform_common/events.h>
#include <uORB/topics/event.h>
#include "mavlink_receiver.h"
#include "mavlink_main.h"
@@ -2321,11 +2323,15 @@ Mavlink::task_main(int argc, char *argv[])
!_transmitting_enabled_commanded && _first_heartbeat_sent) {
_transmitting_enabled = false;
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s", _device_name);
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_disable"), events::Log::Info,
"Disabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id);
} else if (!_transmitting_enabled && !vehicle_status.high_latency_data_link_lost) {
_transmitting_enabled = true;
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s", _device_name);
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_enable"), events::Log::Info,
"Enabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id);
}
}
}
@@ -2348,8 +2354,10 @@ Mavlink::task_main(int argc, char *argv[])
if (vehicle_cmd.param1 > 0.5f) {
if (!_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command",
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command\t",
_device_name);
events::send<int8_t>(events::ID("mavlink_iridium_enable_cmd"), events::Log::Info,
"Enabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id);
}
_transmitting_enabled = true;
@@ -2357,8 +2365,10 @@ Mavlink::task_main(int argc, char *argv[])
} else {
if (_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command",
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command\t",
_device_name);
events::send<int8_t>(events::ID("mavlink_iridium_disable_cmd"), events::Log::Info,
"Disabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id);
}
_transmitting_enabled = false;