From 1350c78d3a3f3be40322b5a4f9ab3b9c469663b6 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sat, 17 Nov 2018 13:04:53 -0800 Subject: [PATCH] Don't starts streams from QGC side. Assume firmware side does the right thing. --- src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 15 --------------- src/FirmwarePlugin/APM/APMFirmwarePlugin.h | 1 - src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc | 10 ---------- src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h | 2 -- 4 files changed, 28 deletions(-) diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc index 974b1ba..a7b8119 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc @@ -587,18 +587,6 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes mavlink_msg_statustext_encode_chan(message->sysid, message->compid, 0, message, &statusText); } -void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) -{ - vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 10); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3); -} - - void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle) { vehicle->setFirmwarePluginInstanceData(new APMFirmwarePluginInstanceData); @@ -634,9 +622,6 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle) // No version set break; } - } else { - // Streams are not started automatically on APM stack - initializeStreamRates(vehicle); } } diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h index 37bbf5b..170bf12 100644 --- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h @@ -92,7 +92,6 @@ public: int manualControlReservedButtonCount(void) override; bool adjustIncomingMavlinkMessage (Vehicle* vehicle, mavlink_message_t* message) override; void adjustOutgoingMavlinkMessage (Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message) override; - virtual void initializeStreamRates (Vehicle* vehicle); void initializeVehicle (Vehicle* vehicle) override; bool sendHomePositionToVehicle (void) override; void addMetaDataToFact (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override; diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc index a77f5e5..25b2e71 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc @@ -169,16 +169,6 @@ int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void) return 0; } -void ArduSubFirmwarePlugin::initializeStreamRates(Vehicle* vehicle) { - vehicle->requestDataStream(MAV_DATA_STREAM_RAW_SENSORS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTENDED_STATUS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_RC_CHANNELS, 2); - vehicle->requestDataStream(MAV_DATA_STREAM_POSITION, 3); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA1, 20); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2, 10); - vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3, 3); -} - bool ArduSubFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities) { Q_UNUSED(vehicle); diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h index 1d69bfb..0abfad2 100644 --- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h +++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h @@ -115,8 +115,6 @@ public: int defaultJoystickTXMode(void) final { return 3; } - void initializeStreamRates(Vehicle* vehicle) override final; - bool isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities) final; bool supportsThrottleModeCenterZero(void) final;