From 3a26708203cbdc5ca8dd0e6b00435f204b9fd2e8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 22 Oct 2012 13:28:53 +0200
Subject: Resolved wrong TX drop display

---
 apps/commander/commander.c                     |  6 ++++++
 apps/mavlink/mavlink.c                         | 18 ++++++++++++++++++
 apps/mavlink/mavlink_bridge_header.h           |  8 +++++++-
 mavlink/include/mavlink/v1.0/mavlink_helpers.h |  4 ++++
 mavlink/include/mavlink/v1.0/protocol.h        |  2 ++
 5 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index ef508e759..50d0a7f13 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -728,6 +728,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 	/* result of the command */
 	uint8_t result = MAV_RESULT_UNSUPPORTED;
 
+	/* announce command handling */
+	ioctl(buzzer, TONE_SET_ALARM, 1);
+
 
 	/* supported command handling start */
 
@@ -907,6 +910,9 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 		default: {
 			mavlink_log_critical(mavlink_fd, "[commander] refusing unsupported command");
 			result = MAV_RESULT_UNSUPPORTED;
+			usleep(200000);
+			/* announce command rejection */
+			ioctl(buzzer, TONE_SET_ALARM, 4);
 		}
 		break;
 	}
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index fd02eb363..2ac803ce0 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -454,6 +454,24 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
 }
 
+/*
+ * Internal function to give access to the channel status for each channel
+ */
+mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+{
+	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_status[chan];
+}
+
+/*
+ * Internal function to give access to the channel buffer for each channel
+ */
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
+{
+	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
+	return &m_mavlink_buffer[chan];
+}
+
 void mavlink_update_system(void)
 {
 	static bool initialized = false;
diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h
index 8d34c3924..de8bc4ae7 100644
--- a/apps/mavlink/mavlink_bridge_header.h
+++ b/apps/mavlink/mavlink_bridge_header.h
@@ -43,9 +43,12 @@
 
 #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-//use efficient approach, see mavlink_helpers.h
+/* use efficient approach, see mavlink_helpers.h */
 #define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
 
+#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
+#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
+
 #include "v1.0/mavlink_types.h"
 #include <unistd.h>
 
@@ -70,4 +73,7 @@ extern mavlink_system_t mavlink_system;
  */
 extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
 
+mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
+
 #endif /* MAVLINK_BRIDGE_HEADER_H */
diff --git a/mavlink/include/mavlink/v1.0/mavlink_helpers.h b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
index f0f3404a2..f41b36883 100644
--- a/mavlink/include/mavlink/v1.0/mavlink_helpers.h
+++ b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
@@ -12,15 +12,18 @@
 /*
  * Internal function to give access to the channel status for each channel
  */
+#ifndef MAVLINK_GET_CHANNEL_STATUS
 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 	return &m_mavlink_status[chan];
 }
+#endif
 
 /*
  * Internal function to give access to the channel buffer for each channel
  */
+#ifndef MAVLINK_GET_CHANNEL_BUFFER
 MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
 {
 	
@@ -35,6 +38,7 @@ MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
 #endif
 	return &m_mavlink_buffer[chan];
 }
+#endif
 
 /**
  * @brief Reset the status of a channel.
diff --git a/mavlink/include/mavlink/v1.0/protocol.h b/mavlink/include/mavlink/v1.0/protocol.h
index 019ae5fc4..64dc22229 100644
--- a/mavlink/include/mavlink/v1.0/protocol.h
+++ b/mavlink/include/mavlink/v1.0/protocol.h
@@ -42,7 +42,9 @@
 #endif // MAVLINK_SEPARATE_HELPERS
 
 /* always include the prototypes to ensure we don't get out of sync */
+#ifndef MAVLINK_GET_CHANNEL_STATUS
 MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
+#endif
 MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan);
 #if MAVLINK_CRC_EXTRA
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-- 
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