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AP_SerialManager: remove special uLanding protocol type 

Old protocol will be changed to Lidar on library init
master
Francisco Ferreira 7 years ago committed by Randy Mackay
parent
398d0d1f37
commit
972264637c
2 changed files with 7 additions and 17 deletions
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  1. 16
      libraries/AP_SerialManager/AP_SerialManager.cpp
  2. 8
      libraries/AP_SerialManager/AP_SerialManager.h

16
libraries/AP_SerialManager/AP_SerialManager.cpp
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@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 1_PROTOCOL
// @DisplayName: Telem1 protocol selection
// @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 12:Aerotenna uLanding, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("1_PROTOCOL", 1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@ -70,7 +70,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -70,7 +70,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 2_PROTOCOL
// @DisplayName: Telemetry 2 protocol selection
// @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 12:Aerotenna uLanding, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("2_PROTOCOL", 3, AP_SerialManager, state[2].protocol, SerialProtocol_MAVLink),
@ -85,7 +85,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -85,7 +85,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 3_PROTOCOL
// @DisplayName: Serial 3 (GPS) protocol selection
// @Description: Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 12:Aerotenna uLanding, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("3_PROTOCOL", 5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
@ -100,7 +100,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -100,7 +100,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 4_PROTOCOL
// @DisplayName: Serial4 protocol selection
// @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 12:Aerotenna uLanding, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("4_PROTOCOL", 7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
@ -115,7 +115,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = { @@ -115,7 +115,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
// @Param: 5_PROTOCOL
// @DisplayName: Serial5 protocol selection
// @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 12:Aerotenna uLanding, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Lidar, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("5_PROTOCOL", 9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@ -222,11 +222,7 @@ void AP_SerialManager::init() @@ -222,11 +222,7 @@ void AP_SerialManager::init()
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
break;
case SerialProtocol_Aerotenna_uLanding:
// Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_ULANDING_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_ULANDING_BUFSIZE_RX,
AP_SERIALMANAGER_ULANDING_BUFSIZE_TX);
state[i].protocol.set_and_save(SerialProtocol_Lidar);
break;
case SerialProtocol_Volz:
// Note baudrate is hardcoded to 115200

8
libraries/AP_SerialManager/AP_SerialManager.h
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@ -63,12 +63,6 @@ @@ -63,12 +63,6 @@
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_RX 128
#define AP_SERIALMANAGER_SToRM32_BUFSIZE_TX 128
// Aerotenne uLanding Altimeter
// Note that size of UART FIFO is 128 for Altera-OcPoc board
#define AP_SERIALMANAGER_ULANDING_BAUD 115200
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_RX 128
#define AP_SERIALMANAGER_ULANDING_BUFSIZE_TX 128
#define AP_SERIALMANAGER_VOLZ_BAUD 115
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_RX 128
#define AP_SERIALMANAGER_VOLZ_BUFSIZE_TX 128
@ -101,7 +95,7 @@ public: @@ -101,7 +95,7 @@ public:
SerialProtocol_Lidar = 9,
SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2
SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support
SerialProtocol_Aerotenna_uLanding = 12, // Ulanding support - deprecated, users should use Lidar
SerialProtocol_Beacon = 13,
SerialProtocol_Volz = 14, // Volz servo protocol
SerialProtocol_Sbus1 = 15

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