From 926c4701c71fb2689025decbc454d14c6df85e76 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 24 Feb 2014 15:17:13 +0100 Subject: mavlink: set current WP working as expected, report current WP with 0.5 Hz --- src/modules/mavlink/mavlink_main.cpp | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) (limited to 'src/modules/mavlink/mavlink_main.cpp') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 15f2fd2ca..1ce467a7b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -987,8 +987,6 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); mavlink_missionlib_send_message(&msg); - if (_verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); - } else if (seq == 0 && wpm->size == 0) { /* don't broadcast if no WPs */ @@ -1145,7 +1143,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) mission.current_index = wpc.seq; publish_mission(); - mavlink_wpm_send_waypoint_current(wpc.seq); + /* don't answer yet, wait for the navigator to respond, then publish the mission_result */ +// mavlink_wpm_send_waypoint_current(wpc.seq); } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); @@ -1708,8 +1707,7 @@ Mavlink::task_main(int argc, char *argv[]) thread_running = true; - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; + unsigned lowspeed_counter = 0; /* wakeup source(s) */ struct pollfd fds[1]; @@ -1739,7 +1737,7 @@ Mavlink::task_main(int argc, char *argv[]) } /* 1 Hz */ - if (lowspeed_counter == 10) { + if (lowspeed_counter % 10 == 0) { mavlink_update_system(); /* translate the current system state to mavlink state and mode */ @@ -1772,7 +1770,12 @@ Mavlink::task_main(int argc, char *argv[]) v_status.errors_count2, v_status.errors_count3, v_status.errors_count4); - lowspeed_counter = 0; + } + + /* 0.5 Hz */ + if (lowspeed_counter % 20 == 0) { + + mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); } lowspeed_counter++; @@ -1783,7 +1786,7 @@ Mavlink::task_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); - if (_verbose) warnx("Got mission result"); + if (_verbose) warnx("Got mission result: new current: %d", mission_result.index_current_mission); if (mission_result.mission_reached) { mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); -- cgit v1.2.3