diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.h | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 85a88442c..f74b7daa7 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -201,10 +201,14 @@ public: mavlink_channel_t get_channel(); + void configure_stream_threadsafe(const char *stream_name, const float rate); + bool _task_should_exit; /**< if true, mavlink task should exit */ int get_mavlink_fd() { return _mavlink_fd; } + MavlinkStream * get_streams() { return _streams; } const + /* Functions for waiting to start transmission until message received. */ void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } @@ -213,6 +217,11 @@ public: bool get_wait_to_transmit() { return _wait_to_transmit; } bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } + /** + * Count a transmision error + */ + void count_txerr(); + protected: Mavlink *next; @@ -282,6 +291,8 @@ private: pthread_mutex_t _message_buffer_mutex; perf_counter_t _loop_perf; /**< loop performance counter */ + perf_counter_t _txerr_perf; /**< TX error counter */ + bool _param_initialized; param_t _param_system_id; param_t _param_component_id; @@ -349,7 +360,6 @@ private: int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); int configure_stream(const char *stream_name, const float rate); - void configure_stream_threadsafe(const char *stream_name, const float rate); int message_buffer_init(int size); |