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author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 21:28:35 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 21:28:35 +0400 |
commit | 7310fd608500be69153c5d033f74b056f1bb986e (patch) | |
tree | 47792aa5bfba108ee53a580573ab6b1e3a3b928f /src/modules/mavlink/mavlink_main.h | |
parent | 769a2af1f8925a2d47fd47a2d25f8d7baac150ec (diff) | |
download | px4-firmware-7310fd608500be69153c5d033f74b056f1bb986e.tar.gz px4-firmware-7310fd608500be69153c5d033f74b056f1bb986e.tar.bz2 px4-firmware-7310fd608500be69153c5d033f74b056f1bb986e.zip |
mavlink: use inherited classes instead of callbacks for mavlink messages formatting, fixes and cleanup
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 16 |
1 files changed, 4 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 56d262000..e7f3486da 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -142,7 +142,7 @@ public: * * @return OK on success. */ - static int start(); + static int start(int argc, char *argv[]); /** * Display the mavlink status. @@ -163,8 +163,6 @@ public: int get_uart_fd(); - int get_channel(); - const char *device_name; enum MAVLINK_MODE { @@ -205,16 +203,11 @@ public: MavlinkOrbSubscription *add_orb_subscription(const struct orb_metadata *topic, size_t size); - mavlink_channel_t get_chan() { return _chan; } + mavlink_channel_t get_channel(); bool _task_should_exit; /**< if true, mavlink task should exit */ protected: - /** - * Pointer to the default cdev file operations table; useful for - * registering clone devices etc. - */ - Mavlink* _next; private: @@ -234,7 +227,7 @@ private: orb_advert_t mission_pub; struct mission_s mission; - uint8_t missionlib_msg_buf[300]; //XXX MAGIC NUMBER + uint8_t missionlib_msg_buf[sizeof(mavlink_message_t)]; MAVLINK_MODE _mode; uint8_t _mavlink_wpm_comp_id; @@ -247,7 +240,6 @@ private: unsigned int total_counter; pthread_t receive_thread; - pthread_t uorb_receive_thread; /* Allocate storage space for waypoints */ mavlink_wpm_storage wpm_s; @@ -326,7 +318,7 @@ private: int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); - int add_stream(const char *stream_name, const unsigned int interval); + int add_stream(const char *stream_name, const float rate); static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); |