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AP_Frsky_Telem: consolidate into a single frsky.init()

master
floaledm 8 years ago committed by Tom Pittenger
parent
4f6a8a017c
commit
94aa6c4cfb
2 changed files with 11 additions and 54 deletions
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  1. 63
      libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
  2. 2
      libraries/AP_Frsky_Telem/AP_Frsky_Telem.h

63
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -32,7 +32,6 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con @@ -32,7 +32,6 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
/*
* init - perform required initialisation
* for Copter
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value)
{
@ -47,9 +46,17 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi @@ -47,9 +46,17 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
queue_message(MAV_SEVERITY_INFO, firmware_str);
// save main parameters locally
_params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
_ap.value = ap_value; // ap bit-field
if (fs_batt_voltage != nullptr) {
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
}
if (fs_batt_mah != nullptr) {
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
}
if (ap_value != nullptr) {
_ap.value = ap_value; // ap bit-field
} else {
*_ap.value = 0;
}
}
if (_port != NULL) {
@ -59,54 +66,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi @@ -59,54 +66,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
}
}
/*
* init - perform required initialisation
* for Plane
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
// add firmware and frame info to message queue
queue_message(MAV_SEVERITY_INFO, firmware_str);
// save main parameters locally
_params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
*_ap.value = 0; // ap bit-field
}
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
}
}
/*
* init - perform required initialisation
* for Rover
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
}
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
}
}
/*
* send telemetry data

2
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
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@ -118,8 +118,6 @@ public: @@ -118,8 +118,6 @@ public:
// init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value);
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah);
void init(const AP_SerialManager &serial_manager);
// add statustext message to FrSky lib queue.
void queue_message(MAV_SEVERITY severity, const char *text);

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