Rover::Rover(void) :
param_loader(var_info),
channel_steer(nullptr),
channel_throttle(nullptr),
channel_learn(nullptr),
DataFlash{FIRMWARE_STRING},
in_log_download(false),
modes(&g.mode1),
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),
mission(ahrs,
FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif
control_mode(INITIALISING),
ground_start_count(20),
throttle(500),
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry(ahrs, battery, sonar),
#endif
home(ahrs.get_home()),
G_Dt(0.02)
{
}
void GCS_Tracker::setup_uarts(AP_SerialManager &serial_manager)
{
GCS::setup_uarts(serial_manager);
for (uint8_t i = 1; i < num_gcs(); i++) {
gcs().chan(i).set_snoop(mavlink_snoop_static);
}
}
void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
{
for (uint8_t i=0; i<num_gcs(); i++) {
if (_chan[i].initialised) {
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
}
}
}
}
/*
install an alternative protocol handler. This allows another
protocol to take over the link if MAVLink goes idle. It is used to
allow for the AP_BLHeli pass-thru protocols to run on hal.uartA
*/
bool GCS::install_alternative_protocol(mavlink_channel_t c, GCS_MAVLINK::protocol_handler_fn_t handler)
{
if (c >= num_gcs()) {
return false;
}
if (chan(c).alternative.handler) {
// already have one installed - we may need to add support for
// multiple alternative handlers
return false;
}
chan(c).alternative.handler = handler;
return true;
}
void GCS_Plane::handle_interactive_setup()
{
if (plane.g.cli_enabled == 1) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
plane.cliSerial->printf("%s\n", msg);
if (_chan[1].initialised && (_chan[1].get_uart() != NULL)) {
_chan[1].get_uart()->printf("%s\n", msg);
}
if (num_gcs() > 2 && _chan[2].initialised && (_chan[2].get_uart() != NULL)) {
_chan[2].get_uart()->printf("%s\n", msg);
}
}
}
void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
{
for (uint8_t i=0; i < num_gcs(); i++) {
if (gcs().chan(i).initialised) {
// request air pressure
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
sysid,
compid,
MAV_DATA_STREAM_RAW_SENSORS,
tracker.g.mavlink_update_rate,
1); // start streaming
}
}
}
}
