diff options
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 22 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 4 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_stream.cpp | 13 |
3 files changed, 23 insertions, 16 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 4f4bf8691..f3246c380 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -146,7 +146,7 @@ Mavlink::Mavlink() : _baudrate(57600), _datarate(1000), _datarate_events(500), - _rate_mult(0.0f), + _rate_mult(1.0f), _mavlink_param_queue_index(0), mavlink_link_termination_allowed(false), _subscribe_to_stream(nullptr), @@ -724,7 +724,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) _last_write_try_time = hrt_absolute_time(); /* check if there is space in the buffer, let it overflow else */ - if (buf_free >= TX_BUFFER_GAP) { + if (buf_free < TX_BUFFER_GAP) { warnx("SKIP msgid %i, %i bytes", msgid, packet_len); /* no enough space in buffer to send */ count_txerr(); @@ -749,9 +749,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) uint16_t checksum; crc_init(&checksum); crc_accumulate_buffer(&checksum, (const char*) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len); -#if MAVLINK_CRC_EXTRA crc_accumulate(mavlink_message_crcs[msgid], &checksum); -#endif buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF); buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8); @@ -1127,7 +1125,7 @@ Mavlink::update_rate_mult() } } - _rate_mult = ((float)_datarate - const_rate) / (rate - const_rate); + _rate_mult = ((float)_datarate - const_rate) / rate; } int @@ -1250,8 +1248,6 @@ Mavlink::task_main(int argc, char *argv[]) break; } - update_rate_mult(); - warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate); /* flush stdout in case MAVLink is about to take it over */ @@ -1328,7 +1324,7 @@ Mavlink::task_main(int argc, char *argv[]) switch (_mode) { case MAVLINK_MODE_NORMAL: configure_stream("SYS_STATUS", 1.0f); - configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); + /*configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("HIGHRES_IMU", 1.0f); configure_stream("ATTITUDE", 10.0f); configure_stream("VFR_HUD", 8.0f); @@ -1340,6 +1336,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f); configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); + */ break; case MAVLINK_MODE_CAMERA: @@ -1353,9 +1350,6 @@ Mavlink::task_main(int argc, char *argv[]) break; } - /* don't send parameters on startup without request */ - _mavlink_param_queue_index = param_count(); - float base_rate_mult = _datarate / 1000.0f; MavlinkRateLimiter fast_rate_limiter(30000.0f / base_rate_mult); @@ -1374,6 +1368,9 @@ Mavlink::task_main(int argc, char *argv[]) hrt_abstime t = hrt_absolute_time(); + update_rate_mult(); + warnx("rate mult %f", (double)_rate_mult); + if (param_sub->update(¶m_time, nullptr)) { /* parameters updated */ mavlink_update_system(); @@ -1410,7 +1407,8 @@ Mavlink::task_main(int argc, char *argv[]) } if (fast_rate_limiter.check(t)) { - _mission_manager->eventloop(); + // TODO missions + //_mission_manager->eventloop(); if (!mavlink_logbuffer_is_empty(&_logbuffer)) { struct mavlink_logmessage msg; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a8b4d11cc..20b1a966f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -305,7 +305,7 @@ protected: msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); msg.type = mavlink_system.type; - msg.autopilot = mavlink_system.type; + msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; _mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg); @@ -352,7 +352,7 @@ protected: {} void subscribe() { - _cmd_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + _cmd_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_command)); } void send(const hrt_abstime t) diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp index da3a55172..5b9e45d3e 100644 --- a/src/modules/mavlink/mavlink_stream.cpp +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -71,12 +71,21 @@ int MavlinkStream::update(const hrt_abstime t) { uint64_t dt = t - _last_sent; - unsigned int interval = _interval * _mavlink->get_rate_mult(); + unsigned int interval = _interval; + + if (!const_rate()) { + interval /= _mavlink->get_rate_mult(); + } if (dt > 0 && dt >= interval) { /* interval expired, send message */ send(t); - _last_sent = t; + if (const_rate()) { + _last_sent = (t / _interval) * _interval; + + } else { + _last_sent = t; + } return 0; } |