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Iridium driver and support

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Mavlink module implement HIGH_LATENCY (Iridium)
This commit is contained in:
Daniel Agar
2016-11-18 14:59:07 -05:00
committed by Lorenz Meier
parent 77e482a30e
commit bce7ecb0f6
14 changed files with 1450 additions and 16 deletions
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27
src/modules/mavlink/mavlink_main.cpp
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@@ -1818,6 +1818,10 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "config") == 0) {
_mode = MAVLINK_MODE_CONFIG;
} else if (strcmp(myoptarg, "iridium") == 0) {
_mode = MAVLINK_MODE_IRIDIUM;
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
}
break;
@@ -1935,14 +1939,18 @@ Mavlink::task_main(int argc, char *argv[])
/* add default streams depending on mode */
/* HEARTBEAT is constant rate stream, rate never adjusted */
configure_stream("HEARTBEAT", 1.0f);
if (_mode != MAVLINK_MODE_IRIDIUM) {
/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
configure_stream("STATUSTEXT", 20.0f);
/* HEARTBEAT is constant rate stream, rate never adjusted */
configure_stream("HEARTBEAT", 1.0f);
/* COMMAND_LONG stream: use high rate to avoid commands skipping */
configure_stream("COMMAND_LONG", 100.0f);
/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
configure_stream("STATUSTEXT", 20.0f);
/* COMMAND_LONG stream: use high rate to avoid commands skipping */
configure_stream("COMMAND_LONG", 100.0f);
}
/* PARAM_VALUE stream */
_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
@@ -2078,6 +2086,11 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("MISSION_ITEM", 50.0f);
configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f);
configure_stream("MANUAL_CONTROL", 5.0f);
break;
case MAVLINK_MODE_IRIDIUM:
configure_stream("HIGH_LATENCY", 0.1f);
break;
default:
break;
@@ -2441,7 +2454,7 @@ Mavlink::start(int argc, char *argv[])
px4_task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2400,
2500,
(px4_main_t)&Mavlink::start_helper,
(char *const *)argv);