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GCS_MAVLink: add EFI_STATUS message

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This commit is contained in:
Andrew Tridgell 2019-11-09 10:31:48 +11:00
parent 9799302225
commit 00e3344321
2 changed files with 13 additions and 0 deletions
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12
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -38,6 +38,7 @@
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_OpticalFlow/OpticalFlow.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_EFI/AP_EFI.h>
#include <stdio.h>
@ -4477,6 +4478,17 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
}
case MSG_EFI_STATUS: {
#if EFI_ENABLED
CHECK_PAYLOAD_SIZE(EFI_STATUS);
AP_EFI *efi = AP::EFI();
if (efi) {
efi->send_mavlink_status(chan);
}
#endif
break;
}
default:
// try_send_message must always at some stage return true for
// a message, or we will attempt to infinitely retry the

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -73,5 +73,6 @@ enum ap_message : uint8_t {
MSG_NAMED_FLOAT,
MSG_EXTENDED_SYS_STATE,
MSG_AUTOPILOT_VERSION,
MSG_EFI_STATUS,
MSG_LAST // MSG_LAST must be the last entry in this enum
};