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Improvements for the iridiumsbd driver

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- Update heartbeat after successful sbd session and fill it in the telemetry_status message
- Add parameter for session timeout, read interval, and stacking time
- Add sbd session timeout
- Fix updating the rssi at a constant rate when no sbd session is scheduled
- Add variable timout to read_at function
- Check if test command is valid to avoid being stuck in the test state
This commit is contained in:
acfloria
2017-12-21 16:35:34 +01:00
committed by Beat Küng
parent 631f314e89
commit 4f256cca20
4 changed files with 185 additions and 100 deletions
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12
src/modules/mavlink/mavlink_main.cpp
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@@ -1979,8 +1979,10 @@ Mavlink::task_main(int argc, char *argv[])
/* Activate sending the data by default except for the IRIDIUM mode */
_transmitting_enabled = true;
if (_mode == MAVLINK_MODE_IRIDIUM)
if (_mode == MAVLINK_MODE_IRIDIUM) {
_transmitting_enabled = false;
}
/* add default streams depending on mode */
if (_mode != MAVLINK_MODE_IRIDIUM) {
@@ -2196,14 +2198,18 @@ Mavlink::task_main(int argc, char *argv[])
}
struct vehicle_command_s vehicle_cmd;
if (cmd_sub->update(&cmd_time, &vehicle_cmd)) {
if (vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_MAVLINK_ENABLE_SENDING) {
if (_mode == (int)round(vehicle_cmd.param1)) {
if (_transmitting_enabled != (int)vehicle_cmd.param2) {
if ((int)vehicle_cmd.param2)
if ((int)vehicle_cmd.param2) {
PX4_INFO("Enable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
else
} else {
PX4_INFO("Disable transmitting with mavlink instance of type %s on device %s", mavlink_mode_str(_mode), _device_name);
}
_transmitting_enabled = (int)vehicle_cmd.param2;
}
}