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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-24 19:31:25 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-24 19:31:25 +0200 |
| commit | b31ddc193c0e3dff3a8e4b4c343848f0f64e61ed (patch) | |
| tree | 52381db977660781b5725c6a393ba0daf3f942d7 /src/modules/mavlink/mavlink_mission.cpp | |
| parent | 897984c4f4a43136320c39f75fef106d3447ce47 (diff) | |
| download | px4-firmware-b31ddc193c0e3dff3a8e4b4c343848f0f64e61ed.tar.gz px4-firmware-b31ddc193c0e3dff3a8e4b4c343848f0f64e61ed.tar.bz2 px4-firmware-b31ddc193c0e3dff3a8e4b4c343848f0f64e61ed.zip | |
mavlink: tix mission manager to use MavlinkStream API
Diffstat (limited to 'src/modules/mavlink/mavlink_mission.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 25 |
1 files changed, 19 insertions, 6 deletions
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index d17ccc6f9..7a761588a 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -59,8 +59,7 @@ static const int ERROR = -1; -MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : - _mavlink(mavlink), +MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink), _state(MAVLINK_WPM_STATE_IDLE), _time_last_recv(0), _time_last_sent(0), @@ -79,9 +78,8 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : _offboard_mission_sub(-1), _mission_result_sub(-1), _offboard_mission_pub(-1), - _slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()), + _slow_rate_limiter(_interval / 10.0f), _verbose(false), - _channel(mavlink->get_channel()), _comp_id(MAV_COMP_ID_MISSIONPLANNER) { _offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission)); @@ -96,6 +94,20 @@ MavlinkMissionManager::~MavlinkMissionManager() close(_mission_result_sub); } +unsigned +MavlinkMissionManager::get_size() +{ + if (_state == MAVLINK_WPM_STATE_SENDLIST) { + return MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + } else if (_state == MAVLINK_WPM_STATE_GETLIST) { + return MAVLINK_MSG_ID_MISSION_REQUEST + MAVLINK_NUM_NON_PAYLOAD_BYTES; + + } else { + return 0; + } +} + void MavlinkMissionManager::init_offboard_mission() { @@ -275,9 +287,10 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq) void -MavlinkMissionManager::eventloop() +MavlinkMissionManager::send(const hrt_abstime now) { - hrt_abstime now = hrt_absolute_time(); + /* update interval for slow rate limiter */ + _slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult()); bool updated = false; orb_check(_mission_result_sub, &updated); |