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Reenable the MissionManager for the Iridium mavlink instance

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The MissionManager handles the MAVLINK_MSG_ID_MISSION_SET_CURRENT command which should also be supported for SatCom.
This commit is contained in:
acfloria 2018-06-14 12:43:06 +02:00 committed by Lorenz Meier
parent 8825bbed29
commit ca1f7a4a19
3 changed files with 16 additions and 17 deletions
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10
src/modules/mavlink/mavlink_mission.cpp
View File

@ -480,6 +480,11 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
void
MavlinkMissionManager::send(const hrt_abstime now)
{
// do not send anything over high latency communication
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
return;
}
bool updated = false;
orb_check(_mission_result_sub, &updated);
@ -1651,6 +1656,11 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
void MavlinkMissionManager::check_active_mission()
{
// do not send anything over high latency communication
if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
return;
}
if (!(_my_dataman_id == _dataman_id)) {
PX4_DEBUG("WPM: New mission detected (possibly over different Mavlink instance) Updating");

21
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -100,7 +100,7 @@ using matrix::wrap_2pi;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(nullptr),
_mission_manager(parent),
_parameters_manager(parent),
_mavlink_ftp(parent),
_mavlink_log_handler(parent),
@ -163,20 +163,12 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
_p_bat_low_thr(param_find("BAT_LOW_THR"))
{
if (_mavlink->get_mode() != Mavlink::MAVLINK_MODE_IRIDIUM) {
_mission_manager = new MavlinkMissionManager(parent);
}
}
MavlinkReceiver::~MavlinkReceiver()
{
orb_unsubscribe(_control_mode_sub);
orb_unsubscribe(_actuator_armed_sub);
if (_mission_manager != nullptr) {
delete _mission_manager;
_mission_manager = nullptr;
}
}
void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
@ -2582,9 +2574,8 @@ MavlinkReceiver::receive_thread(void *arg)
handle_message(&msg);
/* handle packet with mission manager */
if (_mission_manager != nullptr) {
_mission_manager->handle_message(&msg);
}
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
_parameters_manager.handle_message(&msg);
@ -2615,10 +2606,8 @@ MavlinkReceiver::receive_thread(void *arg)
hrt_abstime t = hrt_absolute_time();
if (t - last_send_update > timeout * 1000) {
if (_mission_manager != nullptr) {
_mission_manager->check_active_mission();
_mission_manager->send(t);
}
_mission_manager.check_active_mission();
_mission_manager.send(t);
_parameters_manager.send(t);

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -194,7 +194,7 @@ private:
Mavlink *_mavlink;
MavlinkMissionManager *_mission_manager;
MavlinkMissionManager _mission_manager;
MavlinkParametersManager _parameters_manager;
MavlinkFTP _mavlink_ftp;
MavlinkLogHandler _mavlink_log_handler;