Copter: move data stream send up

ArduCopter/GCS_Mavlink.cpp

@@ -555,107 +555,75 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
 AP_GROUPEND
 };
 
-void
-GCS_MAVLINK_Copter::data_stream_send(void)
-{
-    if (waypoint_receiving) {
-        // don't interfere with mission transfer
-        return;
-    }
-
-    gcs().set_out_of_time(false);
-
-    send_queued_parameters();
-
-    if (gcs().out_of_time()) return;
-
-    if (hal.scheduler->in_delay_callback()) {
-        // don't send any other stream types while in the delay callback
-        return;
-    }
-
-    if (stream_trigger(STREAM_RAW_SENSORS)) {
-        send_message(MSG_RAW_IMU1);  // RAW_IMU, SCALED_IMU2, SCALED_IMU3
-        send_message(MSG_RAW_IMU2);  // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
-        send_message(MSG_RAW_IMU3);  // SENSOR_OFFSETS
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_EXTENDED_STATUS)) {
-        send_message(MSG_EXTENDED_STATUS1); // SYS_STATUS, POWER_STATUS
-        send_message(MSG_EXTENDED_STATUS2); // MEMINFO
-        send_message(MSG_CURRENT_WAYPOINT); // MISSION_CURRENT
-        send_message(MSG_GPS_RAW);
-        send_message(MSG_GPS_RTK);
-        send_message(MSG_GPS2_RAW);
-        send_message(MSG_GPS2_RTK);
-        send_message(MSG_NAV_CONTROLLER_OUTPUT);
-        send_message(MSG_FENCE_STATUS);
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_POSITION)) {
-        send_message(MSG_LOCATION);
-        send_message(MSG_LOCAL_POSITION);
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_RAW_CONTROLLER)) {
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_RC_CHANNELS)) {
-        send_message(MSG_SERVO_OUTPUT_RAW);
-        send_message(MSG_RADIO_IN); // RC_CHANNELS_RAW, RC_CHANNELS
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_EXTRA1)) {
-        send_message(MSG_ATTITUDE);
-        send_message(MSG_SIMSTATE); // SIMSTATE, AHRS2
-        send_message(MSG_PID_TUNING); // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_EXTRA2)) {
-        send_message(MSG_VFR_HUD);
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_EXTRA3)) {
-        send_message(MSG_AHRS);
-        send_message(MSG_HWSTATUS);
-        send_message(MSG_SYSTEM_TIME);
-        send_message(MSG_RANGEFINDER);
+static const uint8_t STREAM_RAW_SENSORS_msgs[] = {
+    MSG_RAW_IMU1,  // RAW_IMU, SCALED_IMU2, SCALED_IMU3
+    MSG_RAW_IMU2,  // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
+    MSG_RAW_IMU3  // SENSOR_OFFSETS
+};
+static const uint8_t STREAM_EXTENDED_STATUS_msgs[] = {
+    MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
+    MSG_EXTENDED_STATUS2, // MEMINFO
+    MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
+    MSG_GPS_RAW,
+    MSG_GPS_RTK,
+    MSG_GPS2_RAW,
+    MSG_GPS2_RTK,
+    MSG_NAV_CONTROLLER_OUTPUT,
+    MSG_FENCE_STATUS
+};
+static const uint8_t STREAM_POSITION_msgs[] = {
+    MSG_LOCATION,
+    MSG_LOCAL_POSITION
+};
+static const uint8_t STREAM_RAW_CONTROLLER_msgs[] = {
+};
+static const uint8_t STREAM_RC_CHANNELS_msgs[] = {
+    MSG_SERVO_OUTPUT_RAW,
+    MSG_RADIO_IN // RC_CHANNELS_RAW, RC_CHANNELS
+};
+static const uint8_t STREAM_EXTRA1_msgs[] = {
+    MSG_ATTITUDE,
+    MSG_SIMSTATE, // SIMSTATE, AHRS2
+    MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
+};
+static const uint8_t STREAM_EXTRA2_msgs[] = {
+    MSG_VFR_HUD
+};
+static const uint8_t STREAM_EXTRA3_msgs[] = {
+    MSG_AHRS,
+    MSG_HWSTATUS,
+    MSG_SYSTEM_TIME,
+    MSG_RANGEFINDER,
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
-        send_message(MSG_TERRAIN);
+    MSG_TERRAIN,
 #endif
-        send_message(MSG_BATTERY2);
-        send_message(MSG_BATTERY_STATUS);
-        send_message(MSG_MOUNT_STATUS);
-        send_message(MSG_OPTICAL_FLOW);
-        send_message(MSG_GIMBAL_REPORT);
-        send_message(MSG_MAG_CAL_REPORT);
-        send_message(MSG_MAG_CAL_PROGRESS);
-        send_message(MSG_EKF_STATUS_REPORT);
-        send_message(MSG_VIBRATION);
-        send_message(MSG_RPM);
-    }
-
-    if (gcs().out_of_time()) return;
-
-    if (stream_trigger(STREAM_ADSB)) {
-        send_message(MSG_ADSB_VEHICLE);
-    }
-}
+    MSG_BATTERY2,
+    MSG_BATTERY_STATUS,
+    MSG_MOUNT_STATUS,
+    MSG_OPTICAL_FLOW,
+    MSG_GIMBAL_REPORT,
+    MSG_MAG_CAL_REPORT,
+    MSG_MAG_CAL_PROGRESS,
+    MSG_EKF_STATUS_REPORT,
+    MSG_VIBRATION,
+    MSG_RPM
+};
+static const uint8_t STREAM_ADSB_msgs[] = {
+    MSG_ADSB_VEHICLE
+};
 
+const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
+    MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
+    MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
+    MAV_STREAM_ENTRY(STREAM_POSITION),
+//    MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
+    MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
+    MAV_STREAM_ENTRY(STREAM_EXTRA1),
+    MAV_STREAM_ENTRY(STREAM_EXTRA2),
+    MAV_STREAM_ENTRY(STREAM_EXTRA3),
+    MAV_STREAM_ENTRY(STREAM_ADSB),
+    MAV_STREAM_TERMINATOR // must have this at end of stream_entries
+};
 
 bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
 {

ArduCopter/GCS_Mavlink.h

@@ -10,8 +10,6 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 
 public:
 
-    void data_stream_send(void) override;
-
 protected:
 
     uint32_t telem_delay() const override;