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mavlink add minimal mode (#8947)

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This commit is contained in:
Daniel Agar
2018-03-04 17:50:28 -05:00
committed by GitHub
parent 6caeb2da4f
commit 5ef27c5425
4 changed files with 43 additions and 10 deletions
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24
src/modules/mavlink/mavlink_main.cpp
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@@ -369,12 +369,6 @@ Mavlink::count_txerr()
perf_count(_txerr_perf);
}
void
Mavlink::set_mode(enum MAVLINK_MODE mode)
{
_mode = mode;
}
int
Mavlink::instance_count()
{
@@ -1871,6 +1865,9 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "iridium") == 0) {
_mode = MAVLINK_MODE_IRIDIUM;
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
} else if (strcmp(myoptarg, "minimal") == 0) {
_mode = MAVLINK_MODE_MINIMAL;
}
break;
@@ -2121,6 +2118,19 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("HIGH_LATENCY", 0.1f);
break;
case MAVLINK_MODE_MINIMAL:
configure_stream("SYS_STATUS", 0.1f);
configure_stream("EXTENDED_SYS_STATE", 0.1f);
configure_stream("ATTITUDE", 10.0f);
configure_stream("RC_CHANNELS", 0.5f);
configure_stream("ALTITUDE", 0.5f);
configure_stream("GPS_RAW_INT", 0.5f);
configure_stream("GLOBAL_POSITION_INT", 5.0f);
configure_stream("HOME_POSITION", 0.1f);
configure_stream("NAMED_VALUE_FLOAT", 1.0f);
configure_stream("VFR_HUD", 1.0f);
break;
default:
break;
}
@@ -2773,7 +2783,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium",
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal",
"Mode: sets default streams and rates", true);
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true);
PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true);