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AP_Periph: fixed ADSB peripheral to send heartbeat

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and remove duplicated mavlink bindings
This commit is contained in:
Andrew Tridgell 2023-09-29 14:13:50 +10:00
parent 8e7c70a0f2
commit bb004c499f
3 changed files with 21 additions and 27 deletions
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1
Tools/AP_Periph/AP_Periph.h
View File

@ -236,6 +236,7 @@ public:
struct {
mavlink_message_t msg;
mavlink_status_t status;
uint32_t last_heartbeat_ms;
} adsb;
#endif

42
Tools/AP_Periph/adsb.cpp
View File

@ -27,18 +27,6 @@
extern const AP_HAL::HAL &hal;
# if !HAL_GCS_ENABLED
#include "include/mavlink/v2.0/protocol.h"
#include "include/mavlink/v2.0/mavlink_types.h"
#include "include/mavlink/v2.0/all/mavlink.h"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-declarations"
#include "include/mavlink/v2.0/mavlink_helpers.h"
#pragma GCC diagnostic pop
#endif
/*
init ADSB support
*/
@ -53,16 +41,6 @@ void AP_Periph_FW::adsb_init(void)
}
}
static mavlink_message_t chan_buffer;
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) {
return &chan_buffer;
}
static mavlink_status_t chan_status;
mavlink_status_t* mavlink_get_channel_status(uint8_t chan) {
return &chan_status;
}
/*
update ADSB subsystem
*/
@ -83,7 +61,7 @@ void AP_Periph_FW::adsb_update(void)
const uint8_t c = (uint8_t)uart->read();
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &adsb.msg, &adsb.status)) {
if (mavlink_frame_char_buffer(&adsb.msg, &adsb.status, c, &adsb.msg, &adsb.status) == MAVLINK_FRAMING_OK) {
if (adsb.msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
// decode and send as UAVCAN TrafficReport
static mavlink_adsb_vehicle_t msg;
@ -92,6 +70,24 @@ void AP_Periph_FW::adsb_update(void)
}
}
}
/*
some ADSB devices need a heartbeat to get the system ID
*/
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - adsb.last_heartbeat_ms >= 1000) {
adsb.last_heartbeat_ms = now_ms;
mavlink_heartbeat_t heartbeat {};
mavlink_message_t msg;
heartbeat.type = MAV_TYPE_GENERIC;
heartbeat.autopilot = MAV_AUTOPILOT_ARDUPILOTMEGA;
auto len = mavlink_msg_heartbeat_encode_status(1,
MAV_COMP_ID_PERIPHERAL,
&adsb.status,
&msg, &heartbeat);
uart->write((uint8_t*)&msg.magic, len);
}
}
/*

5
Tools/AP_Periph/wscript
View File

@ -80,12 +80,9 @@ def build(bld):
'AP_SBusOut',
'AP_RobotisServo',
'AP_FETtecOneWire',
'GCS_MAVLink',
]
if bld.env.BOARD == "sitl_periph_gps":
# sitl_periph_gps needs mavlink bindings for simulators
libraries.extend(['GCS_MAVLink'])
bld.ap_stlib(
name= 'AP_Periph_libs',
dynamic_source='modules/DroneCAN/libcanard/dsdlc_generated/src/**.c',