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GCS_MAVlink: correct routing for Solo Gimbal 

Check for a opro camera in a Solo gimbal added and re-enable the routing of Gopro Mavlink commands
This commit is contained in:
stephan 2023-05-23 10:11:13 +02:00 committed by Andrew Tridgell
parent acf8162e5e
commit 0b24dc239f
2 changed files with 20 additions and 1 deletions
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18
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -94,6 +94,15 @@ routing table.
*/ */
bool MAVLink_routing::check_and_forward(GCS_MAVLINK &in_link, const mavlink_message_t &msg) bool MAVLink_routing::check_and_forward(GCS_MAVLINK &in_link, const mavlink_message_t &msg)
{ {
#if HAL_SOLO_GIMBAL_ENABLED
// check if a Gopro is connected. If yes, we allow the routing
// of mavlink messages to a private channel (Solo Gimbal case)
if (!gopro_status_check && (msg.msgid == MAVLINK_MSG_ID_GOPRO_HEARTBEAT)) {
gopro_status_check = true;
gcs().send_text(MAV_SEVERITY_NOTICE, "GoPro in Solo gimbal detected");
}
#endif // HAL_SOLO_GIMBAL_ENABLED
// handle the case of loopback of our own messages, due to // handle the case of loopback of our own messages, due to
// incorrect serial configuration. // incorrect serial configuration.
if (msg.sysid == mavlink_system.sysid && if (msg.sysid == mavlink_system.sysid &&
@ -139,7 +148,14 @@ bool MAVLink_routing::check_and_forward(GCS_MAVLINK &in_link, const mavlink_mess
bool process_locally = match_system && match_component; bool process_locally = match_system && match_component;
// don't ever forward data from a private channel // don't ever forward data from a private channel
if (from_private_channel) { // unless a Gopro camera is connected to a Solo gimbal
bool should_process_locally = from_private_channel;
#if HAL_SOLO_GIMBAL_ENABLED
if (gopro_status_check) {
should_process_locally = false;
}
#endif
if (should_process_locally) {
return process_locally; return process_locally;
} }

3
libraries/GCS_MAVLink/MAVLink_routing.h
View File

@ -73,4 +73,7 @@ private:
void handle_heartbeat(GCS_MAVLINK &link, const mavlink_message_t &msg); void handle_heartbeat(GCS_MAVLINK &link, const mavlink_message_t &msg);
void send_to_components(const char *pkt, const mavlink_msg_entry_t *entry, uint8_t pkt_len); void send_to_components(const char *pkt, const mavlink_msg_entry_t *entry, uint8_t pkt_len);
// check for Gopro in Solo gimbal status
bool gopro_status_check; // default is none
}; };