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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/AntennaTracker/GCS_Tracker.cpp
Views: 1798
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#include "GCS_Tracker.h"

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#include "Tracker.h"

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uint8_t GCS_Tracker::sysid_this_mav() const

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{

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    return tracker.g.sysid_this_mav;

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}

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void GCS_Tracker::request_datastream_position(const uint8_t sysid, const uint8_t compid)

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{

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    for (uint8_t i=0; i < num_gcs(); i++) {

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            // request position

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            if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {

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                mavlink_msg_request_data_stream_send(

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                    (mavlink_channel_t)i,

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                    sysid,

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                    compid,

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                    MAV_DATA_STREAM_POSITION,

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                    tracker.g.mavlink_update_rate,

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                    1); // start streaming

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            }

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    }

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}

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void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)

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{

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    for (uint8_t i=0; i < num_gcs(); i++) {

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            // request air pressure

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            if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {

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                mavlink_msg_request_data_stream_send(

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                    (mavlink_channel_t)i,

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                    sysid,

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                    compid,

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                    MAV_DATA_STREAM_RAW_SENSORS,

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                    tracker.g.mavlink_update_rate,

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                    1); // start streaming

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            }

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    }

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}

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// update sensors and subsystems present, enabled and healthy flags for reporting to GCS

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void GCS_Tracker::update_vehicle_sensor_status_flags()

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{

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    // default sensors present

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    control_sensors_present |=

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        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |

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        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |

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        MAV_SYS_STATUS_SENSOR_YAW_POSITION;

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    control_sensors_enabled |=

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        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |

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        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |

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        MAV_SYS_STATUS_SENSOR_YAW_POSITION;

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    control_sensors_health |=

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        MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |

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        MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |

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        MAV_SYS_STATUS_SENSOR_YAW_POSITION;

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}

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#if AP_LTM_TELEM_ENABLED

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// avoid building/linking LTM:

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void AP_LTM_Telem::init() {};

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#endif

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#if AP_DEVO_TELEM_ENABLED

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// avoid building/linking Devo:

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void AP_DEVO_Telem::init() {};

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#endif

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