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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-22 23:16:45 -0700 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-28 13:07:01 -0700 |
commit | 78741c87e5415c9e894f619e28b145e127576a56 (patch) | |
tree | 424876901d5b92ab661fc5ab67791e78ea414806 /src/modules/mavlink/mavlink_main.h | |
parent | 4c6ddf93724e51d8af914671bfd1090f42ce09a6 (diff) | |
download | px4-firmware-78741c87e5415c9e894f619e28b145e127576a56.tar.gz px4-firmware-78741c87e5415c9e894f619e28b145e127576a56.tar.bz2 px4-firmware-78741c87e5415c9e894f619e28b145e127576a56.zip |
MAVLink app: 1) only transmit active params, 2) send params faster, 3) ensure no overflow occurs on buffer when sending at higher rate.
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index baaa7bc13..6eef594f5 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -143,6 +143,13 @@ public: bool get_forwarding_on() { return _forwarding_on; } + /** + * Get the free space in the transmit buffer + * + * @return free space in the UART TX buffer + */ + unsigned get_free_tx_buf(); + static int start_helper(int argc, char *argv[]); /** @@ -162,12 +169,12 @@ public: */ int set_hil_enabled(bool hil_enabled); - void send_message(const uint8_t msgid, const void *msg); + void send_message(const uint8_t msgid, const void *msg); /** * Resend message as is, don't change sequence number and CRC. */ - void resend_message(mavlink_message_t *msg); + void resend_message(mavlink_message_t *msg); void handle_message(const mavlink_message_t *msg); @@ -309,7 +316,7 @@ private: int _baudrate; int _datarate; ///< data rate for normal streams (attitude, position, etc.) int _datarate_events; ///< data rate for params, waypoints, text messages - float _rate_mult; + float _rate_mult; /** * If the queue index is not at 0, the queue sending @@ -331,9 +338,9 @@ private: unsigned _bytes_txerr; unsigned _bytes_rx; uint64_t _bytes_timestamp; - float _rate_tx; - float _rate_txerr; - float _rate_rx; + float _rate_tx; + float _rate_txerr; + float _rate_rx; struct telemetry_status_s _rstatus; ///< receive status @@ -363,16 +370,9 @@ private: void mavlink_update_system(); - int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); - - /** - * Get the free space in the transmit buffer - * - * @return free space in the UART TX buffer - */ - unsigned get_free_tx_buf(); + int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); - static unsigned int interval_from_rate(float rate); + static unsigned int interval_from_rate(float rate); int configure_stream(const char *stream_name, const float rate); |