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mavlink: allow resetting streams to their default via 'mavlink stream' command

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This commit is contained in:
Beat Küng 2018-06-25 11:16:33 +02:00 committed by Lorenz Meier
parent ec15fc333b
commit ddde968a6f
1 changed files with 7 additions and 3 deletions
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10
src/modules/mavlink/mavlink_main.cpp
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@ -2871,7 +2871,7 @@ Mavlink::stream_command(int argc, char *argv[])
i++;
}
if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
if (!err_flag && stream_name != nullptr) {
Mavlink *inst = nullptr;
@ -2886,6 +2886,10 @@ Mavlink::stream_command(int argc, char *argv[])
return 1;
}
if (rate < 0.f) {
rate = -2.f; // use default rate
}
if (inst != nullptr) {
inst->configure_stream_threadsafe(stream_name, rate);
@ -2904,7 +2908,7 @@ Mavlink::stream_command(int argc, char *argv[])
}
} else {
PX4_INFO("usage: mavlink stream [-d device] [-u network_port] -s stream -r rate");
usage();
return 1;
}
@ -2991,7 +2995,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
#endif
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
PRINT_MODULE_USAGE_PARAM_STRING('s', nullptr, nullptr, "Mavlink stream to configure", false);
PRINT_MODULE_USAGE_PARAM_FLOAT('r', 0.f, 0.f, 2000.f, "Rate in Hz (0 = turn off)", false);
PRINT_MODULE_USAGE_PARAM_FLOAT('r', -1.f, 0.f, 2000.f, "Rate in Hz (0 = turn off, -1 = set to default)", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("boot_complete",
"Enable sending of messages. (Must be) called as last step in startup script.");