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mavlink: tix mission manager to use MavlinkStream API

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This commit is contained in:
Anton Babushkin
2014-07-24 19:31:25 +02:00
parent 897984c4f4
commit b31ddc193c
5 changed files with 97 additions and 77 deletions
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src/modules/mavlink/mavlink_main.cpp
+9 -18
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@@ -131,8 +131,6 @@ Mavlink::Mavlink() :
_streams(nullptr),
_mission_manager(nullptr),
_parameters_manager(nullptr),
_mission_pub(-1),
_mission_result_sub(-1),
_mode(MAVLINK_MODE_NORMAL),
_channel(MAVLINK_COMM_0),
_logbuffer {},
@@ -1255,12 +1253,6 @@ Mavlink::task_main(int argc, char *argv[])
/* start the MAVLink receiver */
_receive_thread = MavlinkReceiver::receive_start(this);
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
/* create mission manager */
_mission_manager = new MavlinkMissionManager(this);
_mission_manager->set_verbose(_verbose);
_task_running = true;
MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
@@ -1287,6 +1279,14 @@ Mavlink::task_main(int argc, char *argv[])
_parameters_manager->set_interval(interval_from_rate(30.0f));
LL_APPEND(_streams, _parameters_manager);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
@@ -1315,12 +1315,8 @@ Mavlink::task_main(int argc, char *argv[])
break;
}
float base_rate_mult = _datarate / 1000.0f;
MavlinkRateLimiter fast_rate_limiter(30000.0f / base_rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY / base_rate_mult;
_main_loop_delay = MAIN_LOOP_DELAY * 1000 / _datarate;
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);
@@ -1371,11 +1367,6 @@ Mavlink::task_main(int argc, char *argv[])
stream->update(t);
}
if (fast_rate_limiter.check(t)) {
// TODO missions
//_mission_manager->eventloop();
}
/* pass messages from other UARTs or FTP worker */
if (_passing_on || _ftp_on) {