UAVO to Mavlink Bridge Module

Files
file	UAVOMavlinkBridge.c
	Bridges selected UAVObjects to Mavlink.

Macros
#define	STACK_SIZE_BYTES   696
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	TASK_RATE_HZ   10
#define	MAXSTREAMS   sizeof(mav_rates)

Functions
static void	uavoMavlinkBridgeTask (void *parameters)
static bool	stream_trigger (enum MAV_DATA_STREAM stream_num)
static void	updateSettings ()
static int32_t	uavoMavlinkBridgeStart (void)
static int32_t	uavoMavlinkBridgeInitialize (void)
static void	send_message ()

Variables
static const uint8_t	mav_rates []
static struct pios_thread *	uavoMavlinkBridgeTaskHandle
static uint32_t	mavlink_port
static bool	module_enabled = false
static uint8_t *	stream_ticks
static mavlink_message_t *	mav_msg

Detailed Description

Macro Definition Documentation

#define MAXSTREAMS   sizeof(mav_rates)

Definition at line 84 of file UAVOMavlinkBridge.c.

#define STACK_SIZE_BYTES   696

Definition at line 70 of file UAVOMavlinkBridge.c.

#define TASK_PRIORITY   PIOS_THREAD_PRIO_LOW

Definition at line 73 of file UAVOMavlinkBridge.c.

#define TASK_RATE_HZ   10

Definition at line 74 of file UAVOMavlinkBridge.c.

Function Documentation

static void send_message ( )

static

Definition at line 147 of file UAVOMavlinkBridge.c.

static bool stream_trigger ( enum MAV_DATA_STREAM  stream_num )

static

Definition at line 473 of file UAVOMavlinkBridge.c.

static int32_t uavoMavlinkBridgeInitialize ( void  )

static

Initialise the module

Returns

-1 if initialisation failed

0 on success

Definition at line 122 of file UAVOMavlinkBridge.c.

static int32_t uavoMavlinkBridgeStart ( void  )

static

Initialise the module

Returns

-1 if initialisation failed

0 on success

Definition at line 106 of file UAVOMavlinkBridge.c.

static void uavoMavlinkBridgeTask ( void *  parameters )

static

Main task. It does not return.

Definition at line 158 of file UAVOMavlinkBridge.c.

static void updateSettings ( )

static

Definition at line 494 of file UAVOMavlinkBridge.c.

Variable Documentation

mavlink_message_t* mav_msg

static

Definition at line 97 of file UAVOMavlinkBridge.c.

const uint8_t mav_rates[]

static

Initial value:

=
         { [MAV_DATA_STREAM_RAW_SENSORS]=0x02, 
           [MAV_DATA_STREAM_EXTENDED_STATUS]=0x02, 
           [MAV_DATA_STREAM_RC_CHANNELS]=0x05, 
           [MAV_DATA_STREAM_POSITION]=0x02, 
           [MAV_DATA_STREAM_EXTRA1]=0x0A, 
           [MAV_DATA_STREAM_EXTRA2]=0x02 }

Definition at line 76 of file UAVOMavlinkBridge.c.

uint32_t mavlink_port

static

Definition at line 91 of file UAVOMavlinkBridge.c.

bool module_enabled = false

static

Definition at line 93 of file UAVOMavlinkBridge.c.

uint8_t* stream_ticks

static

Definition at line 95 of file UAVOMavlinkBridge.c.

struct pios_thread* uavoMavlinkBridgeTaskHandle

static

Definition at line 89 of file UAVOMavlinkBridge.c.