From 5080201be6f40050a123ca98acf96a9c904d2b62 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 22 Feb 2016 11:05:49 +1100 Subject: [PATCH] GCS_MAVLINK: added set_dataflash() method --- libraries/GCS_MAVLink/GCS.h | 10 ++++++++++ libraries/GCS_MAVLink/GCS_MAVLink.cpp | 3 +++ 2 files changed, 13 insertions(+) diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h index 201efac218..26664a2306 100644 --- a/libraries/GCS_MAVLink/GCS.h +++ b/libraries/GCS_MAVLink/GCS.h @@ -181,6 +181,13 @@ public: */ static bool find_by_mavtype(uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel) { return routing.find_by_mavtype(mav_type, sysid, compid, channel); } + /* + set a dataflash pointer for logging + */ + static void set_dataflash(DataFlash_Class *dataflash) { + dataflash_p = dataflash; + } + private: void handleMessage(mavlink_message_t * msg); @@ -280,6 +287,9 @@ private: // mavlink routing object static MAVLink_routing routing; + // pointer to static dataflash for logging of text messages + static DataFlash_Class *dataflash_p; + // a vehicle can optionally snoop on messages for other systems static void (*msg_snoop)(const mavlink_message_t* msg); diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp index ffd99e94a5..836736d65a 100644 --- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp +++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp @@ -42,6 +42,9 @@ static uint8_t mavlink_locked_mask; // routing table MAVLink_routing GCS_MAVLINK::routing; +// static dataflash pointer to support logging text messages +DataFlash_Class *GCS_MAVLINK::dataflash_p; + // snoop function for vehicle types that want to see messages for // other targets void (*GCS_MAVLINK::msg_snoop)(const mavlink_message_t* msg) = NULL;