Diff: handle/mavcommands.cpp

Revision:

52:b4dddb28dffa

Parent:

39:1acea80563cf

Child:

53:d785a6f6abdd

diff -r 7b4d6043f533 -r b4dddb28dffa handle/mavcommands.cpp
--- a/handle/mavcommands.cpp	Wed Apr 23 04:09:06 2014 +0000
+++ b/handle/mavcommands.cpp	Sat Apr 26 03:35:53 2014 +0000
@@ -20,7 +20,9 @@
     issueTakeOff.targSys=1;issueTakeOff.targComp=1;issueTakeOff.lat=5.0f;issueTakeOff.lon=6.0f;issueTakeOff.alt=7.0f;issueTakeOff.cmd=22;issueTakeOff.seq=0;issueTakeOff.current=1;
     // Issue start
     issueStart.targSys=1;issueStart.targComp=1;issueStart.lat=5.0f;issueStart.lon=6.0f;issueStart.alt=7.0f;issueStart.cmd=22;issueStart.seq=0;issueStart.current=1;
-
+    // Issue location request
+    issueStreamReq.targSys=1;issueStreamReq.targComp=1;issueStreamReq.streamID=6;issueStreamReq.rate=5;issueStreamReq.start=1;
+    
     // Local variables
     startSetup=true;// Set to true to initiate startup sequence
     readState=0;     // Read State
@@ -35,7 +37,7 @@
             return NULL;
         }else{
             char input=Mav::getSerial().getc();
-            USB::getSerial().printf("> %x %d %d\n",input,readState,realLen);
+            USB::getSerial().printf(">%x ",input);
             if(readState==0&&input==0xFE){
                 readState=1;
                 readIndex=1;
@@ -48,6 +50,7 @@
                 if(readState==2){
                     realLen--;
                     if(realLen==0){
+                        USB::getSerial().printf("\n");
                         readState=0;
                         char* output=new char[readIndex];
                         for(int i=0;i<readIndex;i++){output[i]=nextCmd[i];}
@@ -70,10 +73,14 @@
                 startSetup=false;
                 USB::getSerial().printf("Issue Command\n",myCmd[1],myCmd[5]);
                 // Issue count to init waypoint entry
-                Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
-            }else{
-                Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_LIST,(char*)&req,sizeof(MAV_REQUEST_LIST));
-            }
+                //Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));
+                // Start sending location data
+                //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
+            }//else{
+            // Start sending location data
+            Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
+                //Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_LIST,(char*)&req,sizeof(MAV_REQUEST_LIST));
+            //}
         }
         // Check for mavlink message request
         if(myCmd[5]==MAVLINK_MSG_ID_MISSION_REQUEST){
@@ -92,9 +99,20 @@
             // Take off
             Mav::sendOutput(MAVLINK_MSG_ID_ITEM,(char*)&issueTakeOff,sizeof(MAV_MISSION_ITEM));
             wait(1);
+            // Start sending location data
+            Mav::sendOutput(MAVLINK_MSG_ID_REQUEST_DATA_STREAM,(char*)&issueStreamReq,sizeof(MAV_DATA_STREAM));
+            wait(1);
             // Arm motors
             Mav::sendOutput(MAVLINK_MSG_ID_LONG,(char*)&issueArm,sizeof(MAV_APM));
         }
+        // Check for GPS
+        if(myCmd[5]==33){
+            for(int i=0;i<18;i++){USB::getSerial().printf("Got loc %d/18 %d\n",i,myCmd[6+i]);}
+            MAV_LOCDATA* input=(MAV_LOCDATA*)&myCmd[6];
+            USB::getSerial().printf("Got lat %d\n",input->lat);// %d %d %d %d %d,input->lon,input->alt,input->x,input->y,input->z);
+            USB::getSerial().printf("Got lon %d\n",input->lon);
+            USB::getSerial().printf("Got alt %d\n",input->alt);
+        }
         // Check for waypoint count
         if(myCmd[5]==44){
             USB::getSerial().printf("Waypoints tsys %d tcomp %d cnt %d\n",myCmd[8],myCmd[7],myCmd[6]);