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mavlink: code style and copyright fixes

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This commit is contained in:
Anton Babushkin
2014-03-01 00:16:51 +04:00
parent 77d1989aba
commit 836f7c435f
12 changed files with 867 additions and 451 deletions
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src/modules/mavlink/mavlink_main.cpp
+269 -179
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src/modules/mavlink/mavlink_main.h
+18 -17
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@@ -36,6 +36,7 @@
* MAVLink 1.0 protocol interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
@@ -55,24 +56,24 @@
#include "mavlink_stream.h"
#include "mavlink_messages.h"
// FIXME XXX - TO BE MOVED TO XML
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
@@ -144,7 +145,7 @@ public:
const char *device_name;
enum MAVLINK_MODE {
MODE_CUSTOM=0,
MODE_CUSTOM = 0,
MODE_OFFBOARD,
MODE_ONBOARD,
MODE_HIL
@@ -186,7 +187,7 @@ public:
bool _task_should_exit; /**< if true, mavlink task should exit */
protected:
Mavlink* next;
Mavlink *next;
private:
int _mavlink_fd;
@@ -233,7 +234,7 @@ private:
unsigned int mavlink_param_queue_index;
bool mavlink_link_termination_allowed;
/**
* Send one parameter.
*
src/modules/mavlink/mavlink_messages.cpp
+290 -205
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src/modules/mavlink/mavlink_messages.h
+37 -4
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@@ -1,8 +1,41 @@
/*
* mavlink_messages.h
/****************************************************************************
*
* Created on: 25.02.2014
* Author: ton
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_messages.h
* MAVLink 1.0 message formatters definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_MESSAGES_H_
src/modules/mavlink/mavlink_orb_subscription.cpp
+39 -5
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@@ -1,10 +1,42 @@
/*
* mavlink_orb_subscription.cpp
/****************************************************************************
*
* Created on: 23.02.2014
* Author: ton
*/
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_orb_subscription.cpp
* uORB subscription implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <unistd.h>
#include <stdlib.h>
@@ -45,10 +77,12 @@ MavlinkOrbSubscription::update(const hrt_abstime t)
_last_check = t;
bool updated;
orb_check(_fd, &updated);
if (updated) {
orb_copy(_topic, _fd, _data);
return true;
}
}
return false;
}
src/modules/mavlink/mavlink_orb_subscription.h
+39 -5
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@@ -1,8 +1,41 @@
/*
* mavlink_orb_subscription.h
/****************************************************************************
*
* Created on: 23.02.2014
* Author: ton
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_orb_subscription.h
* uORB subscription definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
@@ -12,7 +45,8 @@
#include <drivers/drv_hrt.h>
class MavlinkOrbSubscription {
class MavlinkOrbSubscription
{
public:
MavlinkOrbSubscription *next;
src/modules/mavlink/mavlink_rate_limiter.cpp
+39 -5
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@@ -1,10 +1,42 @@
/*
* mavlink_rate_limiter.cpp
/****************************************************************************
*
* Created on: 26.02.2014
* Author: ton
*/
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_rate_limiter.cpp
* Message rate limiter implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mavlink_rate_limiter.h"
@@ -30,9 +62,11 @@ bool
MavlinkRateLimiter::check(hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
_last_sent = (t / _interval) * _interval;
return true;
}
return false;
}
src/modules/mavlink/mavlink_rate_limiter.h
+39 -5
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@@ -1,8 +1,41 @@
/*
* mavlink_rate_limiter.h
/****************************************************************************
*
* Created on: 26.02.2014
* Author: ton
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_rate_limiter.h
* Message rate limiter definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_RATE_LIMITER_H_
@@ -11,7 +44,8 @@
#include <drivers/drv_hrt.h>
class MavlinkRateLimiter {
class MavlinkRateLimiter
{
private:
hrt_abstime _last_sent;
hrt_abstime _interval;
src/modules/mavlink/mavlink_receiver.cpp
+18 -15
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@@ -566,8 +566,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
if (heading_rad > M_PI_F) {
heading_rad -= 2.0f * M_PI_F;
}
hil_gps.timestamp_velocity = gps.time_usec;
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
@@ -606,7 +607,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
// publish global position
// publish global position
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
// global position packet
@@ -627,10 +628,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
if (pub_hil_local_pos > 0) {
float x;
float y;
bool landed = (float)(hil_state.alt)/1000.0f < (alt0 + 0.1f); // XXX improve?
double lat = hil_state.lat*1e-7;
double lon = hil_state.lon*1e-7;
map_projection_project(lat, lon, &x, &y);
bool landed = (float)(hil_state.alt) / 1000.0f < (alt0 + 0.1f); // XXX improve?
double lat = hil_state.lat * 1e-7;
double lon = hil_state.lon * 1e-7;
map_projection_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
@@ -638,10 +639,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = alt0 - hil_state.alt/1000.0f;
hil_local_pos.vx = hil_state.vx/100.0f;
hil_local_pos.vy = hil_state.vy/100.0f;
hil_local_pos.vz = hil_state.vz/100.0f;
hil_local_pos.z = alt0 - hil_state.alt / 1000.0f;
hil_local_pos.vx = hil_state.vx / 100.0f;
hil_local_pos.vy = hil_state.vy / 100.0f;
hil_local_pos.vz = hil_state.vz / 100.0f;
hil_local_pos.yaw = hil_attitude.yaw;
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
@@ -651,6 +652,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
hil_local_pos.ref_alt = alt0;
hil_local_pos.landed = landed;
orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos);
} else {
pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
lat0 = hil_state.lat;
@@ -661,12 +663,13 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
/* Calculate Rotation Matrix */
math::Quaternion q(hil_state.attitude_quaternion);
math::Matrix<3,3> C_nb = q.to_dcm();
math::Matrix<3, 3> C_nb = q.to_dcm();
math::Vector<3> euler = C_nb.to_euler();
/* set rotation matrix */
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) {
hil_attitude.R[i][j] = C_nb(i, j);
}
hil_attitude.R_valid = true;
@@ -841,9 +844,9 @@ void MavlinkReceiver::print_status()
}
void * MavlinkReceiver::start_helper(void *context)
void *MavlinkReceiver::start_helper(void *context)
{
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink*)context);
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
return rcv->receive_thread(NULL);
}
@@ -865,7 +868,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void*)parent);
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);
return thread;
src/modules/mavlink/mavlink_receiver.h
+2 -2
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@@ -97,13 +97,13 @@ public:
static pthread_t receive_start(Mavlink *parent);
static void * start_helper(void *context);
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink* _mavlink;
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
void *receive_thread(void *arg);
src/modules/mavlink/mavlink_stream.cpp
+38 -4
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@@ -1,8 +1,41 @@
/*
* mavlink_stream.cpp
/****************************************************************************
*
* Created on: 24.02.2014
* Author: ton
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_stream.cpp
* Mavlink messages stream implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdlib.h>
@@ -43,6 +76,7 @@ int
MavlinkStream::update(const hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
/* interval expired, send message */
send(t);
src/modules/mavlink/mavlink_stream.h
+39 -5
View File
@@ -1,8 +1,41 @@
/*
* mavlink_stream.h
/****************************************************************************
*
* Created on: 24.02.2014
* Author: ton
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_stream.cpp
* Mavlink messages stream definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_STREAM_H_
@@ -15,7 +48,8 @@ class MavlinkStream;
#include "mavlink_main.h"
class MavlinkStream {
class MavlinkStream
{
private:
hrt_abstime _last_sent;