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https://github.com/ArduPilot/ardupilot
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GCS_MAVLink: support send_extended_sys_state
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@ -98,6 +98,7 @@ enum ap_message : uint8_t {
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MSG_ORIGIN,
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MSG_HOME,
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MSG_NAMED_FLOAT,
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MSG_EXTENDED_SYS_STATE,
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MSG_LAST // MSG_LAST must be the last entry in this enum
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};
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@ -216,6 +217,7 @@ public:
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#endif
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virtual void send_attitude() const;
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void send_autopilot_version() const;
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void send_extended_sys_state() const;
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void send_local_position() const;
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void send_vfr_hud();
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void send_vibration() const;
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@ -305,6 +307,9 @@ protected:
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virtual uint32_t custom_mode() const = 0;
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virtual MAV_STATE system_status() const = 0;
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virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; }
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virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; }
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bool waypoint_receiving; // currently receiving
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// the following two variables are only here because of Tracker
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uint16_t waypoint_request_i; // request index
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@ -946,6 +946,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
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{ MAVLINK_MSG_ID_BATTERY_STATUS, MSG_BATTERY_STATUS},
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{ MAVLINK_MSG_ID_AOA_SSA, MSG_AOA_SSA},
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{ MAVLINK_MSG_ID_DEEPSTALL, MSG_LANDING},
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{ MAVLINK_MSG_ID_EXTENDED_SYS_STATE, MSG_EXTENDED_SYS_STATE},
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};
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for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
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@ -3855,6 +3856,11 @@ void GCS_MAVLINK::send_sys_status()
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0, 0, 0, 0);
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}
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void GCS_MAVLINK::send_extended_sys_state() const
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{
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mavlink_msg_extended_sys_state_send(chan, vtol_state(), landed_state());
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}
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void GCS_MAVLINK::send_attitude() const
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{
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const AP_AHRS &ahrs = AP::ahrs();
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@ -4154,6 +4160,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
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send_ahrs();
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break;
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case MSG_EXTENDED_SYS_STATE:
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CHECK_PAYLOAD_SIZE(EXTENDED_SYS_STATE);
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send_extended_sys_state();
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break;
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case MSG_VFR_HUD:
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CHECK_PAYLOAD_SIZE(VFR_HUD);
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send_vfr_hud();
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