Rover: updates for new GCS_MAVLink API

APMrover2/GCS_Mavlink.pde

@@ -6,9 +6,6 @@
 // use this to prevent recursion during sensor init
 static bool in_mavlink_delay;
 
-// true when we have received at least 1 MAVLink packet
-static bool mavlink_active;
-
 // true if we are out of time in our event timeslice
 static bool	gcs_out_of_time;
 
@@ -790,66 +787,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
 };
 
 
-void
-GCS_MAVLINK::update(void)
-{
-    // receive new packets
-    mavlink_message_t msg;
-    mavlink_status_t status;
-	status.packet_rx_drop_count = 0;
-
-    // process received bytes
-    uint16_t nbytes = comm_get_available(chan);
-    for (uint16_t i=0; i<nbytes; i++)
-    {
-        uint8_t c = comm_receive_ch(chan);
-
-#if CLI_ENABLED == ENABLED
-        /* allow CLI to be started by hitting enter 3 times, if no
-         *  heartbeat packets have been received */
-        if (mavlink_active == 0 && (millis() - _cli_timeout) < 20000 && 
-            comm_is_idle(chan)) {
-            if (c == '\n' || c == '\r') {
-                crlf_count++;
-            } else {
-                crlf_count = 0;
-            }
-            if (crlf_count == 3) {
-                run_cli(_port);
-            }
-        }
-#endif
-
-        // Try to get a new message
-        if (mavlink_parse_char(chan, c, &msg, &status)) {
-            // we exclude radio packets to make it possible to use the
-            // CLI over the radio
-            if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
-                mavlink_active = true;
-            }
-            handleMessage(&msg);
-        }
-    }
-
-    if (!waypoint_receiving) {
-        return;
-    }
-
-    uint32_t tnow = millis();
-
-    if (waypoint_receiving &&
-        waypoint_request_i <= waypoint_request_last &&
-        tnow > waypoint_timelast_request + 500 + (stream_slowdown*20)) {
-        waypoint_timelast_request = tnow;
-        send_message(MSG_NEXT_WAYPOINT);
-    }
-
-    // stop waypoint receiving if timeout
-    if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout){
-        waypoint_receiving = false;
-    }
-}
-
 // see if we should send a stream now. Called at 50Hz
 bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
 {
@@ -1441,7 +1378,11 @@ static void gcs_update(void)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
-            gcs[i].update();
+#if CLI_ENABLED == ENABLED
+            gcs[i].update(run_cli);
+#else
+            gcs[i].update(NULL);
+#endif
         }
     }
 }

APMrover2/system.pde

@@ -117,7 +117,7 @@ static void init_ardupilot()
     set_control_channels();
 
     // after parameter load setup correct baud rate on uartA
-    hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));
+    hal.uartA->begin(map_baudrate(g.serial0_baud));
 
     // keep a record of how many resets have happened. This can be
     // used to detect in-flight resets
@@ -135,10 +135,10 @@ static void init_ardupilot()
     check_usb_mux();
 
     // we have a 2nd serial port for telemetry
-    gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud, SERIAL1_BAUD), 128, 128);
+    gcs[1].setup_uart(hal.uartC, map_baudrate(g.serial1_baud), 128, 128);
 
 #if MAVLINK_COMM_NUM_BUFFERS > 2
-    gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud, SERIAL2_BAUD), 128, 128);
+    gcs[2].setup_uart(hal.uartD, map_baudrate(g.serial2_baud), 128, 128);
 #endif
 
 	mavlink_system.sysid = g.sysid_this_mav;
@@ -408,27 +408,6 @@ static void resetPerfData(void) {
 }
 
 
-/*
-  map from a 8 bit EEPROM baud rate to a real baud rate
- */
-static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
-{
-    switch (rate) {
-    case 1:    return 1200;
-    case 2:    return 2400;
-    case 4:    return 4800;
-    case 9:    return 9600;
-    case 19:   return 19200;
-    case 38:   return 38400;
-    case 57:   return 57600;
-    case 111:  return 111100;
-    case 115:  return 115200;
-    }
-    cliSerial->println_P(PSTR("Invalid baudrate"));
-    return default_baud;
-}
-
-
 static void check_usb_mux(void)
 {
     bool usb_check = hal.gpio->usb_connected();
@@ -447,7 +426,7 @@ static void check_usb_mux(void)
     if (usb_connected) {
         hal.uartA->begin(SERIAL0_BAUD);
     } else {
-        hal.uartA->begin(map_baudrate(g.serial1_baud, SERIAL1_BAUD));
+        hal.uartA->begin(map_baudrate(g.serial1_baud));
     }
 #endif
 }