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Merge pull request #1622 from mikeller/make_mavlink_shareable 

Made MAVLink telemetry shareable with serial Rx.
This commit is contained in:
Martin Budden 2016-11-27 15:45:58 +01:00 committed by GitHub
parent 417d27dad2 28f2cf0510
commit 18b052e246
3 changed files with 18 additions and 11 deletions
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4
src/main/io/serial.c
View File

@ -208,7 +208,7 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
}
#ifdef TELEMETRY
#define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_MAVLINK)
#define ALL_TELEMETRY_FUNCTIONS_MASK (TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT)
#else
#define ALL_TELEMETRY_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)
#endif
@ -221,7 +221,7 @@ bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
* rules:
* - 1 MSP port minimum, max MSP ports is defined and must be adhered to.
* - MSP is allowed to be shared with EITHER any telemetry OR blackbox.
* - serial RX and FrSky / LTM telemetry can be shared
* - serial RX and FrSky / LTM / MAVLink telemetry can be shared
* - No other sharing combinations are valid.
*/
uint8_t mspPortCount = 0;

23
src/main/telemetry/mavlink.c
View File

@ -170,16 +170,23 @@ void configureMAVLinkTelemetryPort(void)
void checkMAVLinkTelemetryState(void)
{
bool newTelemetryEnabledValue = telemetryDetermineEnabledState(mavlinkPortSharing);
if (portConfig && telemetryCheckRxPortShared(portConfig)) {
if (!mavlinkTelemetryEnabled && telemetrySharedPort != NULL) {
mavlinkPort = telemetrySharedPort;
mavlinkTelemetryEnabled = true;
}
} else {
bool newTelemetryEnabledValue = telemetryDetermineEnabledState(mavlinkPortSharing);
if (newTelemetryEnabledValue == mavlinkTelemetryEnabled) {
return;
if (newTelemetryEnabledValue == mavlinkTelemetryEnabled) {
return;
}
if (newTelemetryEnabledValue)
configureMAVLinkTelemetryPort();
else
freeMAVLinkTelemetryPort();
}
if (newTelemetryEnabledValue)
configureMAVLinkTelemetryPort();
else
freeMAVLinkTelemetryPort();
}
void mavlinkSendSystemStatus(void)

2
src/main/telemetry/telemetry.h
View File

@ -59,4 +59,4 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing);
void telemetryUseConfig(telemetryConfig_t *telemetryConfig);
#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM)
#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK)