Diff: mavlink_bridge.cpp

Revision:

11:76345550efb4

Parent:

10:bd4a08d39e94

--- a/mavlink_bridge.cpp	Mon Apr 04 11:18:57 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-#include "mavlink_bridge.h"
-
-using namespace ait;
-
-MAVLinkBridge::MAVLinkBridge(UART_Interface* uart, mavlink_channel_t mavlink_channel, uint8_t sysid, uint8_t compid)
-        : _uart(uart), _mavlink_channel(mavlink_channel), _packet_drops(0) {
-    setSysId(sysid);
-    setCompId(compid);
-}
-
-void MAVLinkBridge::sendMessage(const mavlink_message_t& msg) {
-    uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-    uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
-    sendBuffer(buf, len);
-}
-
-void MAVLinkBridge::sendBuffer(const uint8_t* buf, uint16_t len) {
-    for (uint16_t i = 0; i < len; ++i) {
-        _uart->writeChar(buf[i]);
-    }
-}
-
-bool MAVLinkBridge::tryReceiveMessage() {
-    mavlink_status_t status;
-    while (_uart->isCharAvailable()) {
-        uint8_t c = _uart->readChar();
-        // Try to get a new message
-        if (mavlink_parse_char(_mavlink_channel, c, &_recv_msg, &status)) {
-            return true;
-        }
-    }
-
-    // Update packet drops counter
-    _packet_drops += _recv_status.packet_rx_drop_count;
-
-    return false;
-}
-
-const mavlink_message_t& MAVLinkBridge::getLastReceivedMessage() {
-    return _recv_msg;
-}