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GCS_MAVLink: added MCU_STATUS message

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This commit is contained in:
Andrew Tridgell 2021-08-23 11:40:05 +10:00
parent a95906ea93
commit 5c3056e50d
3 changed files with 29 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -225,6 +225,9 @@ public:
void send_meminfo(void);
void send_fence_status() const;
void send_power_status(void);
#if HAL_WITH_MCU_MONITORING
void send_mcu_status(void);
#endif
void send_battery_status(const uint8_t instance) const;
bool send_battery_status();
void send_distance_sensor();

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -194,6 +194,23 @@ void GCS_MAVLINK::send_power_status(void)
hal.analogin->power_status_flags());
}
#if HAL_WITH_MCU_MONITORING
// report MCU voltage/temperature status
void GCS_MAVLINK::send_mcu_status(void)
{
if (!gcs().vehicle_initialised()) {
// avoid unnecessary errors being reported to user
return;
}
mavlink_msg_mcu_status_send(chan,
0, // only one MCU
hal.analogin->mcu_temperature() * 100,
hal.analogin->mcu_voltage() * 1000,
hal.analogin->mcu_voltage_min() * 1000,
hal.analogin->mcu_voltage_max() * 1000);
}
#endif
void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
{
// catch the battery backend not supporting the required number of cells
@ -796,6 +813,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, MSG_ORIGIN},
{ MAVLINK_MSG_ID_SYS_STATUS, MSG_SYS_STATUS},
{ MAVLINK_MSG_ID_POWER_STATUS, MSG_POWER_STATUS},
{ MAVLINK_MSG_ID_MCU_STATUS, MSG_MCU_STATUS},
{ MAVLINK_MSG_ID_MEMINFO, MSG_MEMINFO},
{ MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, MSG_NAV_CONTROLLER_OUTPUT},
{ MAVLINK_MSG_ID_MISSION_CURRENT, MSG_CURRENT_WAYPOINT},
@ -4984,6 +5002,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_power_status();
break;
case MSG_MCU_STATUS:
#if HAL_WITH_MCU_MONITORING
CHECK_PAYLOAD_SIZE(MCU_STATUS);
send_mcu_status();
#endif
break;
case MSG_RC_CHANNELS:
CHECK_PAYLOAD_SIZE(RC_CHANNELS);
send_rc_channels();

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -79,5 +79,6 @@ enum ap_message : uint8_t {
MSG_WATER_DEPTH,
MSG_HIGH_LATENCY2,
MSG_AIS_VESSEL,
MSG_MCU_STATUS,
MSG_LAST // MSG_LAST must be the last entry in this enum
};