Line data    Source code

       1             : #include "GCS_Tracker.h"
       2             : #include "Tracker.h"
       3             : 
       4           0 : void GCS_Tracker::request_datastream_position(const uint8_t _sysid, const uint8_t compid)
       5             : {
       6           0 :     for (uint8_t i=0; i < num_gcs(); i++) {
       7             :             // request position
       8           0 :             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
       9           0 :                 mavlink_msg_request_data_stream_send(
      10             :                     (mavlink_channel_t)i,
      11             :                     _sysid,
      12             :                     compid,
      13             :                     MAV_DATA_STREAM_POSITION,
      14             :                     tracker.g.mavlink_update_rate,
      15             :                     1); // start streaming
      16             :             }
      17             :     }
      18           0 : }
      19             : 
      20           0 : void GCS_Tracker::request_datastream_airpressure(const uint8_t _sysid, const uint8_t compid)
      21             : {
      22           0 :     for (uint8_t i=0; i < num_gcs(); i++) {
      23             :             // request air pressure
      24           0 :             if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
      25           0 :                 mavlink_msg_request_data_stream_send(
      26             :                     (mavlink_channel_t)i,
      27             :                     _sysid,
      28             :                     compid,
      29             :                     MAV_DATA_STREAM_RAW_SENSORS,
      30             :                     tracker.g.mavlink_update_rate,
      31             :                     1); // start streaming
      32             :             }
      33             :     }
      34           0 : }
      35             : 
      36             : // update sensors and subsystems present, enabled and healthy flags for reporting to GCS
      37        1785 : void GCS_Tracker::update_vehicle_sensor_status_flags()
      38             : {
      39             :     // default sensors present
      40        1785 :     control_sensors_present |=
      41             :         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
      42             :         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
      43             :         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
      44             : 
      45        1785 :     control_sensors_enabled |=
      46             :         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
      47             :         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
      48             :         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
      49             : 
      50        1785 :     control_sensors_health |=
      51             :         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
      52             :         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
      53             :         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
      54        1785 : }
      55             : 
      56             : #if AP_LTM_TELEM_ENABLED
      57             : // avoid building/linking LTM:
      58          33 : void AP_LTM_Telem::init() {};
      59             : #endif
      60             : #if AP_DEVO_TELEM_ENABLED
      61             : // avoid building/linking Devo:
      62             : void AP_DEVO_Telem::init() {};
      63             : #endif