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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:10:35 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:10:35 +0100 |
| commit | 03c543aba6440c25c5d349791b5a6b33914cb74c (patch) | |
| tree | 2c84a299c31c4fda28c5cd07683b7151a35d07ac /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 55eaa38c651be41eee31b86330edbf27869385f8 (diff) | |
| download | px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.tar.gz px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.tar.bz2 px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.zip | |
MAVLink multi-port WIP, not compiling yet
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 12 |
1 files changed, 4 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 771989430..6881a2280 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +32,7 @@ ****************************************************************************/ /** - * @file mavlink_receiver.c + * @file mavlink_receiver.cpp * MAVLink protocol message receive and dispatch * * @author Lorenz Meier <lm@inf.ethz.ch> @@ -79,12 +78,9 @@ __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "waypoints.h" #include "orb_topics.h" -#include "mavlink_hil.h" #include "mavlink_parameters.h" #include "util.h" -extern bool gcs_link; - __END_DECLS /* XXX should be in a header somewhere */ @@ -272,7 +268,7 @@ handle_message(mavlink_message_t *msg) if (mavlink_system.sysid < 4) { /* switch to a receiving link mode */ - gcs_link = false; + _mavlink->set_mode(Mavlink::MODE_TX_HEARTBEAT_ONLY); /* * rate control mode - defined by MAVLink @@ -367,7 +363,7 @@ handle_message(mavlink_message_t *msg) * COMMAND_LONG message or a SET_MODE message */ - if (mavlink_hil_enabled) { + if (_mavlink->hil_enabled()) { uint64_t timestamp = hrt_absolute_time(); |