void loop() {
dataProvider->resetParse();
while (!WalkeraSerial->available()); // Wait until Data comes in
while (WalkeraSerial->available() > 0)
{
byte c = WalkeraSerial->read();
dataProvider->parseMessage(c);
}
dataProvider->finishParse();
processData();
updateHeartbeat();
}
void LightsController::loop(uint32_t now) {
if (setuped) {
if (lightsTimer.isDue_ms(LED_UPDATE_RATE, now)) {
if (startup) {
for (int i = 0;i<16;i++) {
sn3218.set(i,0);
}
startup = false;
}
updateHeartbeat();
updateBrokenLight();
updateActuator();
sn3218.update();
}
}
}
void loop() {
#ifdef MAVLINKTELEMETRY
if( dataProvider->enable_mav_request || (millis() - dataProvider->lastMAVBeat > 5000) )
{
if(millis() - rateRequestTimer > 2000)
{
for(int n = 0; n < 3; n++)
{
#ifdef DEBUG
debugSerial->println("Making rate request.");
#endif
dataProvider->makeRateRequest();
delay(50);
}
dataProvider->enable_mav_request = 0;
dataProvider->waitingMAVBeats = 0;
rateRequestTimer = millis();
}
}
#endif
while (mavlinkSerial->available() > 0)
{
if (queue.count() < 128)
{
char c = mavlinkSerial->read();
queue.enqueue(c);
}
else
{
#ifdef DEBUG
debugSerial->println("QUEUE IS FULL!");
#endif
}
}
processData();
updateHeartbeat();
sendWalkeraData();
}
void Device::update()
{
updateHeartbeat();
updateFault();
updateState();
}