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Sub: rename gcs[] to gcs_chan[] 

Wish to use gcs() to return the gcs singleton
mission-4.1.18
Peter Barker 8 years ago committed by Andrew Tridgell
parent
1990aa7829
commit
6fb2a6814f
7 changed files with 34 additions and 34 deletions
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  1. 24
      ArduSub/GCS_Mavlink.cpp
  2. 2
      ArduSub/Log.cpp
  3. 8
      ArduSub/Parameters.cpp
  4. 2
      ArduSub/Sub.h
  5. 18
      ArduSub/compassmot.cpp
  6. 4
      ArduSub/motor_test.cpp
  7. 10
      ArduSub/system.cpp

24
ArduSub/GCS_Mavlink.cpp
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@ -82,7 +82,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan) @@ -82,7 +82,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
uint8_t mav_type;
mav_type = MAV_TYPE_SUBMARINE;
gcs[chan-MAVLINK_COMM_0].send_heartbeat(mav_type,
gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(mav_type,
base_mode,
custom_mode,
system_status);
@ -1969,7 +1969,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg) @@ -1969,7 +1969,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
void Sub::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) {
if (!gcs_chan[0].initialised || in_mavlink_delay) {
return;
}
@ -2003,8 +2003,8 @@ void Sub::mavlink_delay_cb() @@ -2003,8 +2003,8 @@ void Sub::mavlink_delay_cb()
void Sub::gcs_send_message(enum ap_message id)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_message(id);
if (gcs_chan[i].initialised) {
gcs_chan[i].send_message(id);
}
}
}
@ -2015,9 +2015,9 @@ void Sub::gcs_send_message(enum ap_message id) @@ -2015,9 +2015,9 @@ void Sub::gcs_send_message(enum ap_message id)
void Sub::gcs_send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].mission_item_reached_index = mission_index;
gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
if (gcs_chan[i].initialised) {
gcs_chan[i].mission_item_reached_index = mission_index;
gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
}
}
}
@ -2028,8 +2028,8 @@ void Sub::gcs_send_mission_item_reached_message(uint16_t mission_index) @@ -2028,8 +2028,8 @@ void Sub::gcs_send_mission_item_reached_message(uint16_t mission_index)
void Sub::gcs_data_stream_send(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].data_stream_send();
if (gcs_chan[i].initialised) {
gcs_chan[i].data_stream_send();
}
}
}
@ -2040,11 +2040,11 @@ void Sub::gcs_data_stream_send(void) @@ -2040,11 +2040,11 @@ void Sub::gcs_data_stream_send(void)
void Sub::gcs_check_input(void)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
if (gcs_chan[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs[i].update(g.cli_enabled==1?FUNCTOR_BIND_MEMBER(&Sub::run_cli, void, AP_HAL::UARTDriver *):NULL);
gcs_chan[i].update(g.cli_enabled==1?FUNCTOR_BIND_MEMBER(&Sub::run_cli, void, AP_HAL::UARTDriver *):NULL);
#else
gcs[i].update(NULL);
gcs_chan[i].update(NULL);
#endif
}
}

2
ArduSub/Log.cpp
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@ -744,7 +744,7 @@ void Sub::log_init(void) @@ -744,7 +744,7 @@ void Sub::log_init(void)
DataFlash.Prep();
gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
for (uint8_t i=0; i<num_gcs; i++) {
gcs[i].reset_cli_timeout();
gcs_chan[i].reset_cli_timeout();
}
}
}

8
ArduSub/Parameters.cpp
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@ -720,19 +720,19 @@ const AP_Param::Info Sub::var_info[] = { @@ -720,19 +720,19 @@ const AP_Param::Info Sub::var_info[] = {
// @Group: SR0_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[0], gcs0, "SR0_", GCS_MAVLINK),
GOBJECTN(gcs_chan[0], gcs0, "SR0_", GCS_MAVLINK),
// @Group: SR1_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[1], gcs1, "SR1_", GCS_MAVLINK),
GOBJECTN(gcs_chan[1], gcs1, "SR1_", GCS_MAVLINK),
// @Group: SR2_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[2], gcs2, "SR2_", GCS_MAVLINK),
GOBJECTN(gcs_chan[2], gcs2, "SR2_", GCS_MAVLINK),
// @Group: SR3_
// @Path: GCS_Mavlink.cpp
GOBJECTN(gcs[3], gcs3, "SR3_", GCS_MAVLINK),
GOBJECTN(gcs_chan[3], gcs3, "SR3_", GCS_MAVLINK),
// @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS.cpp

2
ArduSub/Sub.h
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@ -219,7 +219,7 @@ private: @@ -219,7 +219,7 @@ private:
AP_SerialManager serial_manager;
static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
GCS_MAVLINK_Sub gcs[MAVLINK_COMM_NUM_BUFFERS];
GCS_MAVLINK_Sub gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
// User variables
#ifdef USERHOOK_VARIABLES

18
ArduSub/compassmot.cpp
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@ -36,7 +36,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -36,7 +36,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
// check compass is enabled
if (!g.compass_enabled) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
ap.compass_mot = false;
return 1;
}
@ -45,7 +45,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -45,7 +45,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
compass.read();
for (uint8_t i=0; i<compass.get_count(); i++) {
if (!compass.healthy(i)) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
ap.compass_mot = false;
return 1;
}
@ -54,7 +54,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -54,7 +54,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
// check if radio is calibrated
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
ap.compass_mot = false;
return 1;
}
@ -62,7 +62,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -62,7 +62,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
// check throttle is at zero
read_radio();
if (channel_throttle->get_control_in() != 0) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
ap.compass_mot = false;
return 1;
}
@ -87,13 +87,13 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -87,13 +87,13 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
AP_Notify::flags.esc_calibration = true;
// warn user we are starting calibration
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
// inform what type of compensation we are attempting
if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
} else {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
}
// disable battery failsafe
@ -236,10 +236,10 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan) @@ -236,10 +236,10 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
}
compass.save_motor_compensation();
// display success message
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
} else {
// compensation vector never updated, report failure
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
}

4
ArduSub/motor_test.cpp
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@ -69,13 +69,13 @@ bool Sub::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc) @@ -69,13 +69,13 @@ bool Sub::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
// check rc has been calibrated
pre_arm_rc_checks();
if (check_rc && !ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
return false;
}

10
ArduSub/system.cpp
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@ -137,7 +137,7 @@ void Sub::init_ardupilot() @@ -137,7 +137,7 @@ void Sub::init_ardupilot()
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
// identify ourselves correctly with the ground station
@ -208,11 +208,11 @@ void Sub::init_ardupilot() @@ -208,11 +208,11 @@ void Sub::init_ardupilot()
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
gcs[1].get_uart()->println(msg);
if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != NULL)) {
gcs_chan[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
gcs[2].get_uart()->println(msg);
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != NULL)) {
gcs_chan[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED

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