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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Periph/GCS_MAVLink.cpp
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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#include "GCS_MAVLink.h"

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#include <AP_HAL/AP_HAL_Boards.h>

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#include "AP_Periph.h"

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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

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#include <hal.h>

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#endif

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#if HAL_GCS_ENABLED

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static const ap_message STREAM_RAW_SENSORS_msgs[] = {

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    MSG_RAW_IMU

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};

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static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {

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    MSG_SYS_STATUS,

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    MSG_POWER_STATUS,

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#if HAL_WITH_MCU_MONITORING

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    MSG_MCU_STATUS,

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#endif

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    MSG_MEMINFO,

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#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED

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    MSG_GPS_RAW,

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#endif

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#if AP_GPS_GPS_RTK_SENDING_ENABLED

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    MSG_GPS_RTK,

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#endif

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};

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static const ap_message STREAM_POSITION_msgs[] = {

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#if AP_AHRS_ENABLED

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    MSG_LOCATION,

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    MSG_LOCAL_POSITION

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#endif

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};

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static const ap_message STREAM_PARAMS_msgs[] = {

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    MSG_NEXT_PARAM

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};

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const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {

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    MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),

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    MAV_STREAM_ENTRY(STREAM_POSITION),

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    MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),

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    MAV_STREAM_ENTRY(STREAM_PARAMS),

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    MAV_STREAM_TERMINATOR // must have this at end of stream_entries

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};

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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {

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    AP_GROUPEND

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};

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uint8_t GCS_MAVLINK_Periph::sysid_my_gcs() const

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{

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    return periph.g.sysid_this_mav;

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}

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uint8_t GCS_Periph::sysid_this_mav() const

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{

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    return periph.g.sysid_this_mav;

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}

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MAV_RESULT GCS_MAVLINK_Periph::handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg)

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{

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    hal.scheduler->delay(10);

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    periph.prepare_reboot();

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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

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    NVIC_SystemReset();

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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL

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    HAL_SITL::actually_reboot();

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#endif

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}

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#endif // #if HAL_GCS_ENABLED

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