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GCS_MAVLink: enable sending of RELAY_STATUS message

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Peter Barker 2023-08-03 13:31:40 +10:00 committed by Peter Barker
parent 1e18ca595f
commit 13c83ee9f8
4 changed files with 28 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -768,6 +768,7 @@ private:
virtual void handleMessage(const mavlink_message_t &msg) = 0;
MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet);
bool send_relay_status() const;
static bool command_long_stores_location(const MAV_CMD command);

22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1035,6 +1035,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
#endif
#if HAL_ADSB_ENABLED
{ MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
#endif
#if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
{ MAVLINK_MSG_ID_RELAY_STATUS, MSG_RELAY_STATUS},
#endif
};
@ -5534,6 +5537,19 @@ void GCS_MAVLINK::send_uavionix_adsb_out_status() const
}
#endif
#if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
bool GCS_MAVLINK::send_relay_status() const
{
AP_Relay *relay = AP::relay();
if (relay == nullptr) {
// must only return false if out of space:
return true;
}
return relay->send_relay_status(*this);
}
#endif // AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
{
// get attitude
@ -5994,6 +6010,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
#endif
break;
case MSG_RELAY_STATUS:
#if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
ret = send_relay_status();
break;
#endif
default:
// try_send_message must always at some stage return true for
// a message, or we will attempt to infinitely retry the

4
libraries/GCS_MAVLink/GCS_config.h
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@ -1,6 +1,7 @@
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Relay/AP_Relay_config.h>
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 1
@ -40,3 +41,6 @@
#define HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED ((AP_FILESYSTEM_FATFS_ENABLED || AP_FILESYSTEM_POSIX_ENABLED) && BOARD_FLASH_SIZE > 1024)
#endif
#ifndef AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
#define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED HAL_GCS_ENABLED && AP_RELAY_ENABLED
#endif

1
libraries/GCS_MAVLink/ap_message.h
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@ -87,5 +87,6 @@ enum ap_message : uint8_t {
MSG_ATTITUDE_TARGET,
MSG_HYGROMETER,
MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE,
MSG_RELAY_STATUS,
MSG_LAST // MSG_LAST must be the last entry in this enum
};