From ddde968a6fa3e6d445bb5f3ceeb8f2ce775f076f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 25 Jun 2018 11:16:33 +0200 Subject: [PATCH] mavlink: allow resetting streams to their default via 'mavlink stream' command --- src/modules/mavlink/mavlink_main.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c312836f15..5c300a0697 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -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, "", "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.");