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Make mavlink print buffered

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Combine all output of each step into one SERIAL_CONTROL message
This commit is contained in:
Oleg Kalachev 2025-05-05 00:44:06 +03:00
parent 4b938e8d89
commit 21dc47c472
2 changed files with 11 additions and 1 deletions
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11
flix/mavlink.ino
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@ -13,6 +13,7 @@
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
float mavlinkControlScale = 0.7; float mavlinkControlScale = 0.7;
String mavlinkPrintBuffer;
extern double controlsTime; extern double controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
@ -23,6 +24,8 @@ void processMavlink() {
} }
void sendMavlink() { void sendMavlink() {
sendMavlinkPrint();
static double lastSlow = 0; static double lastSlow = 0;
static double lastFast = 0; static double lastFast = 0;
@ -197,7 +200,12 @@ void handleMavlink(const void *_msg) {
// Send shell output to GCS // Send shell output to GCS
void mavlinkPrint(const char* str) { void mavlinkPrint(const char* str) {
// Send data in chunks mavlinkPrintBuffer += str;
}
void sendMavlinkPrint() {
// Send mavlink print data in chunks
const char *str = mavlinkPrintBuffer.c_str();
for (int i = 0; i < strlen(str); i += MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN) { for (int i = 0; i < strlen(str); i += MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN) {
char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1]; char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
strlcpy(data, str + i, sizeof(data)); strlcpy(data, str + i, sizeof(data));
@ -206,6 +214,7 @@ void mavlinkPrint(const char* str) {
SERIAL_CONTROL_DEV_SHELL, 0, 0, 0, strlen(data), (uint8_t *)data, 0, 0); SERIAL_CONTROL_DEV_SHELL, 0, 0, 0, strlen(data), (uint8_t *)data, 0, 0);
sendMessage(&msg); sendMessage(&msg);
} }
mavlinkPrintBuffer.clear();
} }
// Convert Forward-Left-Up to Forward-Right-Down quaternion // Convert Forward-Left-Up to Forward-Right-Down quaternion

1
gazebo/flix.h
View File

@ -51,6 +51,7 @@ void sendMessage(const void *msg);
void receiveMavlink(); void receiveMavlink();
void handleMavlink(const void *_msg); void handleMavlink(const void *_msg);
void mavlinkPrint(const char* str); void mavlinkPrint(const char* str);
void sendMavlinkPrint();
inline Quaternion fluToFrd(const Quaternion &q); inline Quaternion fluToFrd(const Quaternion &q);
void failsafe(); void failsafe();
void armingFailsafe(); void armingFailsafe();