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author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-23 11:11:49 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-23 11:11:49 +0200 |
commit | a5f2d1b06645d4db33751aa8392fcbaf7f0856cc (patch) | |
tree | 1e13c03285ddd393a1a4b57a58784786ae2875a5 /src/modules/mavlink/mavlink_main.h | |
parent | 344a34bb725a65769a227157f41363fd5d180a14 (diff) | |
download | px4-firmware-a5f2d1b06645d4db33751aa8392fcbaf7f0856cc.tar.gz px4-firmware-a5f2d1b06645d4db33751aa8392fcbaf7f0856cc.tar.bz2 px4-firmware-a5f2d1b06645d4db33751aa8392fcbaf7f0856cc.zip |
mavlink: new message sending API, includes fixed
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 58 |
1 files changed, 11 insertions, 47 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 1c62b03d2..7fcbae72e 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -58,7 +58,7 @@ #include "mavlink_stream.h" #include "mavlink_messages.h" #include "mavlink_mission.h" - +#include "mavlink_parameters.h" class Mavlink { @@ -160,11 +160,7 @@ public: */ int set_hil_enabled(bool hil_enabled); - bool check_can_send(const int prio, const unsigned packet_len); - - void send_message(const uint8_t msgid, const void *msg, const int prio); - - void send_message(const mavlink_message_t *msg); + void send_message(const uint8_t msgid, const void *msg); void handle_message(const mavlink_message_t *msg); @@ -285,6 +281,7 @@ private: MavlinkStream *_streams; MavlinkMissionManager *_mission_manager; + MavlinkParametersManager *_parameters_manager; orb_advert_t _mission_pub; int _mission_result_sub; @@ -305,6 +302,7 @@ 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; /** * If the queue index is not at 0, the queue sending @@ -352,51 +350,12 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _txerr_perf; /**< TX error counter */ - /** - * Send one parameter. - * - * @param param The parameter id to send. - * @return zero on success, nonzero on failure. - */ - int mavlink_pm_send_param(param_t param); - - /** - * Send one parameter identified by index. - * - * @param index The index of the parameter to send. - * @return zero on success, nonzero else. - */ - int mavlink_pm_send_param_for_index(uint16_t index); - - /** - * Send one parameter identified by name. - * - * @param name The index of the parameter to send. - * @return zero on success, nonzero else. - */ - int mavlink_pm_send_param_for_name(const char *name); - - /** - * Send a queue of parameters, one parameter per function call. - * - * @return zero on success, nonzero on failure - */ - int mavlink_pm_queued_send(void); - - /** - * Start sending the parameter queue. - * - * This function will not directly send parameters, but instead - * activate the sending of one parameter on each call of - * mavlink_pm_queued_send(). - * @see mavlink_pm_queued_send() - */ - void mavlink_pm_start_queued_send(); - void mavlink_update_system(); 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); + int configure_stream(const char *stream_name, const float rate); /** @@ -420,6 +379,11 @@ private: void pass_message(const mavlink_message_t *msg); + /** + * Update rate mult so total bitrate will be equal to _datarate. + */ + void update_rate_mult(); + static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); /** |