AntennaTracker/GCS_Tracker.cpp

   1 #include "GCS_Tracker.h"
   2 #include "Tracker.h"
   3
   4 uint8_t GCS_Tracker::sysid_this_mav() const
   5 {
   6     return tracker.g.sysid_this_mav;
   7 }
   8
   9 void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)
  10 {
  11     for (uint8_t i=0; i < num_gcs(); i++) {
  12             // request position
  13             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
  14                 mavlink_msg_request_data_stream_send(
  15                     (mavlink_channel_t)i,
  16                     sysid,
  17                     compid,
  18                     MAV_DATA_STREAM_POSITION,
  19                     tracker.g.mavlink_update_rate,
  20                     1); // start streaming
  21             }
  22     }
  23 }
  24
  25 void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
  26 {
  27     for (uint8_t i=0; i < num_gcs(); i++) {
  28             // request air pressure
  29             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
  30                 mavlink_msg_request_data_stream_send(
  31                     (mavlink_channel_t)i,
  32                     sysid,
  33                     compid,
  34                     MAV_DATA_STREAM_RAW_SENSORS,
  35                     tracker.g.mavlink_update_rate,
  36                     1); // start streaming
  37             }
  38     }
  39 }
  40
  41 // update sensors and subsystems present, enabled and healthy flags for reporting to GCS
  42 void GCS_Tracker::update_vehicle_sensor_status_flags()
  43 {
  44     // default sensors present
  45     control_sensors_present |=
  46         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
  47         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
  48         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
  49
  50     control_sensors_enabled |=
  51         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
  52         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
  53         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
  54
  55     control_sensors_health |=
  56         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
  57         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
  58         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
  59 }
  60
  61 #if AP_LTM_TELEM_ENABLED
  62 // avoid building/linking LTM:
  63 void AP_LTM_Telem::init() {};
  64 #endif
  65 #if AP_DEVO_TELEM_ENABLED
  66 // avoid building/linking Devo:
  67 void AP_DEVO_Telem::init() {};
  68 #endif