diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 19 |
1 files changed, 9 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 9a6e1130e..7e1af8824 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -711,7 +711,7 @@ int Mavlink::mavlink_pm_send_param(param_t param) mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, - MAVLINK_COMM_0, + _channel, &tx_msg, name_buf, val_buf, @@ -906,7 +906,7 @@ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8 wpa.target_component = compid; wpa.type = type; - mavlink_msg_mission_ack_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpa); + mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } @@ -929,7 +929,7 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) wpc.seq = seq; - mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); } else if (seq == 0 && _wpm->size == 0) { @@ -952,7 +952,7 @@ void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uin wpc.target_component = compid; wpc.count = mission.count; - mavlink_msg_mission_count_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } @@ -983,7 +983,7 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t wp.target_system = sysid; wp.target_component = compid; wp.seq = seq; - mavlink_msg_mission_item_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp); + mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } @@ -1003,7 +1003,7 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u wpr.target_system = sysid; wpr.target_component = compid; wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpr); + mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } @@ -1029,7 +1029,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) wp_reached.seq = seq; - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } @@ -1498,7 +1498,7 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string) statustext.text[i] = '\0'; mavlink_message_t msg; - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + mavlink_msg_statustext_encode_chan(mavlink_system.sysid, mavlink_system.compid, _channel, &msg, &statustext); mavlink_missionlib_send_message(&msg); return OK; @@ -1611,7 +1611,6 @@ Mavlink::task_main(int argc, char *argv[]) int ch; _baudrate = 57600; _datarate = 0; - _channel = MAVLINK_COMM_0; _mode = MODE_OFFBOARD; @@ -1826,7 +1825,7 @@ Mavlink::task_main(int argc, char *argv[]) _mavlink_param_queue_index = param_count(); MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); - MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(20000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; |