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Mavlink: get orb_listener to work

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This commit is contained in:
Julian Oes
2014-02-11 22:36:36 +01:00
parent 19105bebc5
commit ea2a69d8bf
4 changed files with 65 additions and 44 deletions
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src/modules/mavlink/mavlink_main.cpp
+24 -5
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@@ -153,6 +153,7 @@ namespace mavlink
Mavlink::Mavlink() :
// _mavlink_fd(-1),
_next(nullptr),
_task_should_exit(false),
thread_running(false),
_mavlink_task(-1),
@@ -1448,6 +1449,8 @@ Mavlink::task_main(int argc, char *argv[])
_baudrate = 57600;
_chan = MAVLINK_COMM_0;
_mode = MODE_OFFBOARD;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
@@ -1488,7 +1491,23 @@ Mavlink::task_main(int argc, char *argv[])
warnx("MAVLink v1.0 serial interface starting...");
/* inform about mode */
warnx((_mode == MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
switch (_mode) {
case MODE_TX_HEARTBEAT_ONLY:
warnx("MODE_TX_HEARTBEAT_ONLY");
break;
case MODE_OFFBOARD:
warnx("MODE_OFFBOARD");
break;
case MODE_ONBOARD:
warnx("MODE_ONBOARD");
break;
case MODE_HIL:
warnx("MODE_HIL");
break;
default:
warnx("Error: Unknown mode");
break;
}
/* Flush stdout in case MAVLink is about to take it over */
fflush(stdout);
@@ -1506,12 +1525,12 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_update_system();
/* start the MAVLink receiver */
// MavlinkReceiver rcv(this);
//receive_thread = MavlinkReceiver::receive_start(this);
// MavlinkReceiver rcv(this);
receive_thread = MavlinkReceiver::receive_start(this);
/* start the ORB receiver */
//MavlinkOrbListener listener(this);
//uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this);
// MavlinkOrbListener listener(this);
uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this);
/* initialize waypoint manager */
mavlink_wpm_init(wpm);