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mavlink: use send_message() method of Mavlink class instead of using helpers

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This commit is contained in:
Anton Babushkin
2014-07-20 20:34:32 +02:00
parent 1f3625371d
commit ee7cd04e4c
5 changed files with 122 additions and 172 deletions
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src/modules/mavlink/mavlink_messages.cpp
+14 -16
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@@ -249,9 +249,9 @@ public:
return MAVLINK_MSG_ID_HEARTBEAT;
}
static MavlinkStream *new_instance()
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamHeartbeat();
return new MavlinkStreamHeartbeat(mavlink);
}
private:
@@ -263,15 +263,15 @@ private:
MavlinkStreamHeartbeat& operator = (const MavlinkStreamHeartbeat &);
protected:
explicit MavlinkStreamHeartbeat() : MavlinkStream(),
explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink),
status_sub(nullptr),
pos_sp_triplet_sub(nullptr)
{}
void subscribe(Mavlink *mavlink)
void subscribe()
{
status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
status_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_status));
pos_sp_triplet_sub = _mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
}
void send(const hrt_abstime t)
@@ -290,17 +290,15 @@ protected:
memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
}
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
mavlink_heartbeat_t msg;
msg.base_mode = 0;
msg.custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
msg.type = mavlink_system.type;
msg.autopilot = mavlink_system.type;
msg.mavlink_version = 3;
mavlink_msg_heartbeat_send(_channel,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
_mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg, 1);
}
};