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Transmit one message over high latency telemetry on boot

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This commit is contained in:
acfloria
2018-03-01 17:26:12 +01:00
committed by Beat Küng
parent 392af4fbb6
commit 1fd8b681a0
2 changed files with 27 additions and 11 deletions
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34
src/modules/mavlink/mavlink_main.cpp
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@@ -194,6 +194,7 @@ Mavlink::Mavlink() :
next(nullptr),
_instance_id(0),
_transmitting_enabled(true),
_transmitting_enabled_commanded(false),
_mavlink_log_pub(nullptr),
_task_running(false),
_mavlink_buffer{},
@@ -215,7 +216,6 @@ Mavlink::Mavlink() :
_channel(MAVLINK_COMM_0),
_radio_id(0),
_logbuffer(5, sizeof(mavlink_log_s)),
_total_counter(0),
_receive_thread{},
_forwarding_on(false),
_ftp_on(false),
@@ -1977,11 +1977,12 @@ Mavlink::task_main(int argc, char *argv[])
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
/* Activate sending the data by default except for the IRIDIUM mode */
/* Activate sending the data by default (for the IRIDIUM mode it will be disabled after the first round of packages is sent)*/
_transmitting_enabled = true;
_transmitting_enabled_commanded = true;
if (_mode == MAVLINK_MODE_IRIDIUM) {
_transmitting_enabled = false;
_transmitting_enabled_commanded = false;
}
/* add default streams depending on mode */
@@ -2124,7 +2125,7 @@ Mavlink::task_main(int argc, char *argv[])
break;
case MAVLINK_MODE_IRIDIUM:
configure_stream("HIGH_LATENCY2", 0.1f);
configure_stream("HIGH_LATENCY2", 0.015f);
break;
case MAVLINK_MODE_MINIMAL:
@@ -2201,13 +2202,21 @@ Mavlink::task_main(int argc, char *argv[])
if (cmd_sub->update(&cmd_time, &vehicle_cmd)) {
if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) && (_mode == MAVLINK_MODE_IRIDIUM)) {
if (!_transmitting_enabled && (vehicle_cmd.param1 > 0.5f)) {
PX4_INFO("Enable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
_transmitting_enabled = true;
if ((vehicle_cmd.param1 > 0.5f)) {
if (!_transmitting_enabled) {
PX4_INFO("Enable transmitting with IRIDIUM mavlink on device %s by command", _device_name);
}
_transmitting_enabled = true;
_transmitting_enabled_commanded = true;
} else if ((vehicle_cmd.param1 <= 0.5f)) {
if (_transmitting_enabled) {
PX4_INFO("Disable transmitting with IRIDIUM mavlink on device %s by command", _device_name);
}
} else if (_transmitting_enabled && (vehicle_cmd.param1 <= 0.5f)) {
PX4_INFO("Disable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
_transmitting_enabled = false;
_transmitting_enabled_commanded = false;
}
}
}
@@ -2315,6 +2324,13 @@ Mavlink::task_main(int argc, char *argv[])
stream->update(t);
}
if (_mode == MAVLINK_MODE_IRIDIUM) {
if ((_last_write_success_time > 0u) && !_transmitting_enabled_commanded && _transmitting_enabled) {
_transmitting_enabled = false;
PX4_INFO("Disable Iridium Mavlink after first packet is sent");
}
}
/* pass messages from other UARTs */
if (_forwarding_on) {