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MAVLink: better output handling

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Lorenz Meier
2017-07-08 19:36:00 +02:00
parent 24ffada340
commit d80be2e4ff
3 changed files with 15 additions and 3 deletions
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src/modules/mavlink/mavlink_main.h
+2
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@@ -427,6 +427,8 @@ public:
bool accepting_commands() { return true; /* non-trivial side effects ((!_config_link_on) || (_mode == MAVLINK_MODE_CONFIG));*/ }
bool verbose() { return _verbose; }
int get_data_rate() { return _datarate; }
void set_data_rate(int rate) { if (rate > 0) { _datarate = rate; } }
src/modules/mavlink/mavlink_messages.cpp
+8 -2
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@@ -458,11 +458,17 @@ protected:
/* only send commands for other systems/components, don't forward broadcast commands */
if ((cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) &&
(cmd.target_component != MAV_COMP_ID_ALL)) {
PX4_INFO("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
if (_mavlink->verbose()) {
PX4_INFO("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
}
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
} else {
PX4_INFO("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
if (_mavlink->verbose()) {
PX4_INFO("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
}
}
}
src/modules/mavlink/mavlink_mission.cpp
+5 -1
View File
@@ -87,7 +87,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mission_result_sub(-1),
_offboard_mission_pub(nullptr),
_slow_rate_limiter(100 * 1000), // Rate limit sending of the current WP sequence to 10 Hz
_verbose(false),
_verbose(mavlink->verbose()),
_mavlink(mavlink)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -385,10 +385,14 @@ MavlinkMissionManager::send(const hrt_abstime now)
&& hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
if (_transfer_seq == 0) {
/* try to send items count again after timeout */
if (_verbose) { warnx("WPM: send count timeout"); }
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
} else {
/* try to send item again after timeout */
if (_verbose) { warnx("WPM: item re-send timeout"); }
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
}