Пример #1
0
/*
  handle a request to change stream rate. Note that copter passes in
  save==false, as sending mavlink messages on copter on APM2 costs
  enough that it can cause flight issues, so we don't want the save to
  happen when the user connects the ground station.
 */
void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
{
    mavlink_request_data_stream_t packet;
    mavlink_msg_request_data_stream_decode(msg, &packet);

    int16_t freq = 0;     // packet frequency

    if (packet.start_stop == 0)
        freq = 0;                     // stop sending
    else if (packet.start_stop == 1)
        freq = packet.req_message_rate;                     // start sending
    else
        return;

    AP_Int16 *rate = NULL;
    switch (packet.req_stream_id) {
    case MAV_DATA_STREAM_ALL:
        // note that we don't set STREAM_PARAMS - that is internal only
        for (uint8_t i=0; i<STREAM_PARAMS; i++) {
            if (save) {
                streamRates[i].set_and_save_ifchanged(freq);
            } else {
                streamRates[i].set(freq);
            }
        }
        break;
    case MAV_DATA_STREAM_RAW_SENSORS:
        rate = &streamRates[STREAM_RAW_SENSORS];
        break;
    case MAV_DATA_STREAM_EXTENDED_STATUS:
        rate = &streamRates[STREAM_EXTENDED_STATUS];
        break;
    case MAV_DATA_STREAM_RC_CHANNELS:
        rate = &streamRates[STREAM_RC_CHANNELS];
        break;
    case MAV_DATA_STREAM_RAW_CONTROLLER:
        rate = &streamRates[STREAM_RAW_CONTROLLER];
        break;
    case MAV_DATA_STREAM_POSITION:
        rate = &streamRates[STREAM_POSITION];
        break;
    case MAV_DATA_STREAM_EXTRA1:
        rate = &streamRates[STREAM_EXTRA1];
        break;
    case MAV_DATA_STREAM_EXTRA2:
        rate = &streamRates[STREAM_EXTRA2];
        break;
    case MAV_DATA_STREAM_EXTRA3:
        rate = &streamRates[STREAM_EXTRA3];
        break;
    }

    if (rate != NULL) {
        if (save) {
            rate->set_and_save_ifchanged(freq);
        } else {
            rate->set(freq);
        }
    }
}
/*
  set a int16 and save if changed
 */
void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const char *suffix)
{
    int16_t old_value = v.get();
    v.set(value);
    if (old_value != v.get()) {
        v.save();
        log_param_change(v.get(), suffix);
    }
}