diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 51 |
1 files changed, 48 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 76b5459a3..e25851c7d 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -247,6 +247,7 @@ Mavlink::Mavlink() : _subscribe_to_stream(nullptr), _subscribe_to_stream_rate(0.0f), _flow_control_enabled(true), + _rstatus{}, _message_buffer{}, _message_buffer_mutex{}, _param_initialized(false), @@ -424,6 +425,29 @@ Mavlink::destroy_all_instances() return OK; } +int +Mavlink::get_status_all_instances() +{ + Mavlink *inst = ::_mavlink_instances; + + unsigned iterations = 0; + + warnx("waiting for instances to stop"); + + while (inst != nullptr) { + + printf("instance #%u:\n", iterations); + inst->display_status(); + + /* move on */ + inst = inst->next; + iterations++; + } + + /* return an error if there are no instances */ + return (iterations == 0); +} + bool Mavlink::instance_exists(const char *device_name, Mavlink *self) { @@ -1395,7 +1419,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("HIGHRES_IMU", 1.0f * rate_mult); configure_stream("ATTITUDE", 10.0f * rate_mult); - configure_stream("VFR_HUD", 10.0f * rate_mult); + configure_stream("VFR_HUD", 8.0f * rate_mult); configure_stream("GPS_RAW_INT", 1.0f * rate_mult); configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult); configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult); @@ -1665,6 +1689,27 @@ void Mavlink::display_status() { warnx("running"); + + if (_rstatus.timestamp > 0) { + printf("\ttime:\t%llu\tus\n", _rstatus.heartbeat_time); + + switch (_rstatus.type) { + case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO: + printf("\t3DR RADIO\n"); + break; + default: + printf("\tUNKNOWN RADIO\n"); + break; + } + + printf("\trssi:\t%d\t\n", _rstatus.rssi); + printf("\tremote rssi:\t%u\tus\n", _rstatus.remote_rssi); + printf("\ttxbuf:\t%u\tus\n", _rstatus.txbuf); + printf("\tnoise:\t%d\tus\n", _rstatus.noise); + printf("\tremote noise:\t%u\tus\n", _rstatus.remote_noise); + printf("\trx errors:\t%u\tus\n", _rstatus.rxerrors); + printf("\tfixed:\t%u\tus\n", _rstatus.fixed); + } } int @@ -1752,8 +1797,8 @@ int mavlink_main(int argc, char *argv[]) } else if (!strcmp(argv[1], "stop-all")) { return Mavlink::destroy_all_instances(); - // } else if (!strcmp(argv[1], "status")) { - // mavlink::g_mavlink->status(); + } else if (!strcmp(argv[1], "status")) { + return Mavlink::get_status_all_instances(); } else if (!strcmp(argv[1], "stream")) { return Mavlink::stream_command(argc, argv); |