Merge branch 'master' into dataman_state_nav_rewrite

1 files changed, 11 insertions, 3 deletions

diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 91d79057c..b4184b21c 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -83,9 +83,9 @@ public:
 	/**
 	 * Display the mavlink status.
 	 */
-	void			status();
+	void			display_status();
 
-	static int		stream(int argc, char *argv[]);
+	static int		stream_command(int argc, char *argv[]);
 
 	static int		instance_count();
 
@@ -174,12 +174,15 @@ public:
 
 	const mavlink_channel_t	get_channel();
 
+	void configure_stream_threadsafe(const char *stream_name, const float rate);
+
 	bool			_task_should_exit;	/**< if true, mavlink task should exit */
 
 	int			get_mavlink_fd() { return _mavlink_fd; }
 
 	int send_statustext(const char *string);
 	int send_statustext(enum MAV_SEVERITY severity, const char *string);
+	MavlinkStream * get_streams() { return _streams; } const
 
 	float get_rate_mult();
 
@@ -195,6 +198,11 @@ public:
     void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
     void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
 
+	/**
+	 * Count a transmision error
+	 */
+	void count_txerr();
+
 protected:
 	Mavlink			*next;
 
@@ -263,6 +271,7 @@ private:
 	pthread_mutex_t		_message_buffer_mutex;
 
 	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
 
 	bool			_param_initialized;
 	param_t			_param_system_id;
@@ -320,7 +329,6 @@ private:
 	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
 	int configure_stream(const char *stream_name, const float rate);
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
 
 	int message_buffer_init(int size);