You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
81 lines
2.1 KiB
81 lines
2.1 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
#include "GCS_MAVLink.h" |
|
#include <AP_HAL/AP_HAL_Boards.h> |
|
#include "AP_Periph.h" |
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
|
#include <hal.h> |
|
#endif |
|
|
|
#if HAL_GCS_ENABLED |
|
|
|
static const ap_message STREAM_RAW_SENSORS_msgs[] = { |
|
MSG_RAW_IMU |
|
}; |
|
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = { |
|
MSG_SYS_STATUS, |
|
MSG_POWER_STATUS, |
|
MSG_MCU_STATUS, |
|
MSG_MEMINFO, |
|
MSG_GPS_RAW, |
|
MSG_GPS_RTK, |
|
}; |
|
|
|
static const ap_message STREAM_POSITION_msgs[] = { |
|
#if defined(HAL_PERIPH_ENABLE_AHRS) |
|
MSG_LOCATION, |
|
MSG_LOCAL_POSITION |
|
#endif |
|
}; |
|
|
|
static const ap_message STREAM_PARAMS_msgs[] = { |
|
MSG_NEXT_PARAM |
|
}; |
|
|
|
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = { |
|
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS), |
|
MAV_STREAM_ENTRY(STREAM_POSITION), |
|
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS), |
|
MAV_STREAM_ENTRY(STREAM_PARAMS), |
|
MAV_STREAM_TERMINATOR // must have this at end of stream_entries |
|
}; |
|
|
|
const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = { |
|
AP_GROUPEND |
|
}; |
|
|
|
uint8_t GCS_MAVLINK_Periph::sysid_my_gcs() const |
|
{ |
|
return periph.g.sysid_this_mav; |
|
} |
|
|
|
uint8_t GCS_Periph::sysid_this_mav() const |
|
{ |
|
return periph.g.sysid_this_mav; |
|
} |
|
|
|
MAV_RESULT GCS_MAVLINK_Periph::handle_preflight_reboot(const mavlink_command_long_t &packet) |
|
{ |
|
hal.scheduler->delay(10); |
|
periph.prepare_reboot(); |
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
|
NVIC_SystemReset(); |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
HAL_SITL::actually_reboot(); |
|
#endif |
|
} |
|
|
|
#endif // #if HAL_GCS_ENABLED
|
|
|