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new mode for fake gps

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This commit is contained in:
ChristophTobler
2015-11-17 16:38:11 +01:00
parent 83c8161cdb
commit dfdf7dce4d
3 changed files with 13 additions and 1 deletions
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9
src/modules/mavlink/mavlink_main.cpp
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@@ -1523,6 +1523,9 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "osd") == 0) {
_mode = MAVLINK_MODE_OSD;
} else if (strcmp(myoptarg, "magic") == 0) {
_mode = MAVLINK_MODE_MAGIC;
} else if (strcmp(myoptarg, "config") == 0) {
_mode = MAVLINK_MODE_CONFIG;
}
@@ -1709,7 +1712,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("TIMESYNC", 10.0f);
configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
/* camera trigger is rate limited at the source, do not limit here */
//camera trigger is rate limited at the source, do not limit here
configure_stream("CAMERA_TRIGGER", 500.0f);
configure_stream("EXTENDED_SYS_STATE", 2.0f);
break;
@@ -1729,6 +1732,10 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("EXTENDED_SYS_STATE", 1.0f);
break;
case MAVLINK_MODE_MAGIC:
//stream nothing
break;
case MAVLINK_MODE_CONFIG:
// Enable a number of interesting streams we want via USB
configure_stream("SYS_STATUS", 1.0f);