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New bust mode ftp file download

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This commit is contained in:
Don Gagne
2015-05-03 19:26:54 -07:00
parent 0b5e6bdf97
commit 46da294ffb
9 changed files with 617 additions and 385 deletions
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9
src/modules/mavlink/mavlink_main.cpp
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@@ -131,6 +131,7 @@ Mavlink::Mavlink() :
_streams(nullptr),
_mission_manager(nullptr),
_parameters_manager(nullptr),
_mavlink_ftp(nullptr),
_mode(MAVLINK_MODE_NORMAL),
_channel(MAVLINK_COMM_0),
_logbuffer {},
@@ -868,6 +869,9 @@ Mavlink::handle_message(const mavlink_message_t *msg)
/* handle packet with parameter component */
_parameters_manager->handle_message(msg);
/* handle packet with ftp component */
_mavlink_ftp->handle_message(msg);
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
@@ -1364,6 +1368,11 @@ Mavlink::task_main(int argc, char *argv[])
_parameters_manager->set_interval(interval_from_rate(120.0f));
LL_APPEND(_streams, _parameters_manager);
/* MAVLINK_FTP stream */
_mavlink_ftp = (MavlinkFTP *) MavlinkFTP::new_instance(this);
_mavlink_ftp->set_interval(interval_from_rate(120.0f));
LL_APPEND(_streams, _mavlink_ftp);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */