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mavlink: move commands stream to mavlink_messages.cpp, bugs fixed

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This commit is contained in:
Anton Babushkin
2014-07-23 15:37:56 +02:00
parent a5f2d1b066
commit d70b21c51a
7 changed files with 78 additions and 149 deletions
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14
src/modules/mavlink/mavlink_main.cpp
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@@ -78,7 +78,6 @@
#include "mavlink_messages.h"
#include "mavlink_receiver.h"
#include "mavlink_rate_limiter.h"
#include "mavlink_commands.h"
#ifndef MAVLINK_CRC_EXTRA
#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
@@ -840,7 +839,7 @@ Mavlink::send_statustext(unsigned severity, const char *string)
break;
}
mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
send_message(MAVLINK_MSG_ID_STATUSTEXT, &statustext);
return OK;
} else {
@@ -1313,13 +1312,14 @@ Mavlink::task_main(int argc, char *argv[])
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
MavlinkCommandsStream commands_stream(this, _channel);
/* add default streams depending on mode */
/* 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);
/* PARAM_VALUE stream */
_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
_parameters_manager->set_interval(interval_from_rate(30.0f));
@@ -1384,9 +1384,6 @@ Mavlink::task_main(int argc, char *argv[])
set_hil_enabled(status.hil_state == HIL_STATE_ON);
}
/* update commands stream */
commands_stream.update(t);
/* check for requested subscriptions */
if (_subscribe_to_stream != nullptr) {
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
@@ -1469,7 +1466,8 @@ Mavlink::task_main(int argc, char *argv[])
pthread_mutex_unlock(&_message_buffer_mutex);
_mavlink_resend_uart(_channel, &msg);
// TODO implement message resending
//_mavlink_resend_uart(_channel, &msg);
}
}