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Plane: avoid allocate a GCS_MAVLINK per mavlink channel

master
Peter Barker 6 years ago committed by Peter Barker
parent
74670a77be
commit
7e5a6f1895
5 changed files with 32 additions and 35 deletions
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  1. 23
      ArduPlane/GCS_Mavlink.cpp
  2. 2
      ArduPlane/GCS_Mavlink.h
  3. 27
      ArduPlane/GCS_Plane.h
  4. 8
      ArduPlane/Parameters.cpp
  5. 7
      ArduPlane/system.cpp

23
ArduPlane/GCS_Mavlink.cpp
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@ -450,7 +450,7 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
/* /*
default stream rates to 1Hz default stream rates to 1Hz
*/ */
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = { const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS // @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate // @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station // @Description: Raw sensor stream rate to ground station
@ -458,7 +458,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1), AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 1),
// @Param: EXT_STAT // @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station // @DisplayName: Extended status stream rate to ground station
@ -467,7 +467,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1), AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 1),
// @Param: RC_CHAN // @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station // @DisplayName: RC Channel stream rate to ground station
@ -476,7 +476,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1), AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 1),
// @Param: RAW_CTRL // @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station // @DisplayName: Raw Control stream rate to ground station
@ -485,7 +485,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1), AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 1),
// @Param: POSITION // @Param: POSITION
// @DisplayName: Position stream rate to ground station // @DisplayName: Position stream rate to ground station
@ -494,7 +494,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1), AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 1),
// @Param: EXTRA1 // @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station // @DisplayName: Extra data type 1 stream rate to ground station
@ -503,7 +503,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1), AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 1),
// @Param: EXTRA2 // @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station // @DisplayName: Extra data type 2 stream rate to ground station
@ -512,7 +512,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1), AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 1),
// @Param: EXTRA3 // @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station // @DisplayName: Extra data type 3 stream rate to ground station
@ -521,7 +521,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1), AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 1),
// @Param: PARAMS // @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station // @DisplayName: Parameter stream rate to ground station
@ -530,7 +530,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10), AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 10),
// @Param: ADSB // @Param: ADSB
// @DisplayName: ADSB stream rate to ground station // @DisplayName: ADSB stream rate to ground station
@ -539,7 +539,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Range: 0 50 // @Range: 0 50
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5), AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 5),
AP_GROUPEND AP_GROUPEND
}; };
@ -1349,7 +1349,6 @@ void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg
void Plane::mavlink_delay_cb() void Plane::mavlink_delay_cb()
{ {
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised) return;
logger.EnableWrites(false); logger.EnableWrites(false);

2
ArduPlane/GCS_Mavlink.h
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@ -8,6 +8,8 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
public: public:
using GCS_MAVLINK::GCS_MAVLINK;
protected: protected:
uint32_t telem_delay() const override; uint32_t telem_delay() const override;

27
ArduPlane/GCS_Plane.h
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@ -9,23 +9,20 @@ class GCS_Plane : public GCS
public: public:
// return the number of valid GCS objects
uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
// return GCS link at offset ofs // return GCS link at offset ofs
GCS_MAVLINK_Plane &chan(uint8_t ofs) override { GCS_MAVLINK_Plane *chan(const uint8_t ofs) override {
if (ofs >= num_gcs()) { if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset); AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0; return nullptr;
} }
return _chan[ofs]; return (GCS_MAVLINK_Plane *)_chan[ofs];
} }
const GCS_MAVLINK_Plane &chan(uint8_t ofs) const override { const GCS_MAVLINK_Plane *chan(const uint8_t ofs) const override {
if (ofs >= num_gcs()) { if (ofs > _num_gcs) {
AP::internalerror().error(AP_InternalError::error_t::gcs_offset); AP::internalerror().error(AP_InternalError::error_t::gcs_offset);
ofs = 0; return nullptr;
} }
return _chan[ofs]; return (GCS_MAVLINK_Plane *)_chan[ofs];
} }
protected: protected:
@ -34,8 +31,8 @@ protected:
uint32_t custom_mode() const override; uint32_t custom_mode() const override;
MAV_TYPE frame_type() const override; MAV_TYPE frame_type() const override;
private: GCS_MAVLINK_Plane *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override {
GCS_MAVLINK_Plane _chan[MAVLINK_COMM_NUM_BUFFERS]; return new GCS_MAVLINK_Plane(params, uart);
}
}; };

8
ArduPlane/Parameters.cpp
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@ -970,19 +970,19 @@ const AP_Param::Info Plane::var_info[] = {
// @Group: SR0_ // @Group: SR0_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[0], gcs0, "SR0_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[0], gcs0, "SR0_", GCS_MAVLINK_Parameters),
// @Group: SR1_ // @Group: SR1_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[1], gcs1, "SR1_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[1], gcs1, "SR1_", GCS_MAVLINK_Parameters),
// @Group: SR2_ // @Group: SR2_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[2], gcs2, "SR2_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[2], gcs2, "SR2_", GCS_MAVLINK_Parameters),
// @Group: SR3_ // @Group: SR3_
// @Path: GCS_Mavlink.cpp // @Path: GCS_Mavlink.cpp
GOBJECTN(_gcs._chan[3], gcs3, "SR3_", GCS_MAVLINK), GOBJECTN(_gcs.chan_parameters[3], gcs3, "SR3_", GCS_MAVLINK_Parameters),
// @Group: INS_ // @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp

7
ArduPlane/system.cpp
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@ -55,8 +55,7 @@ void Plane::init_ardupilot()
// initialise serial ports // initialise serial ports
serial_manager.init(); serial_manager.init();
gcs().chan(0).setup_uart(0); gcs().setup_console();
// Register mavlink_delay_cb, which will run anytime you have // Register mavlink_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay // more than 5ms remaining in your call to hal.scheduler->delay
@ -343,8 +342,8 @@ void Plane::check_long_failsafe()
(tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) { (tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE); failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI && } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI &&
gcs().chan(0).last_radio_status_remrssi_ms != 0 && gcs().chan(0)->last_radio_status_remrssi_ms != 0 &&
(tnow - gcs().chan(0).last_radio_status_remrssi_ms) > g.fs_timeout_long*1000) { (tnow - gcs().chan(0)->last_radio_status_remrssi_ms) > g.fs_timeout_long*1000) {
failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE); failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
} }
} else { } else {

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