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Copter: add send_autopilot_version

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Jonathan Challinger 2015-01-20 18:42:53 -08:00 committed by Andrew Tridgell
parent 0d1f0f4eb0
commit c5d66cdfba
1 changed files with 48 additions and 0 deletions
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48
ArduCopter/GCS_Mavlink.pde
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@ -128,6 +128,54 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
gyro.z); gyro.z);
} }
static NOINLINE void send_autopilot_version(mavlink_channel_t chan)
{
uint16_t capabilities = 0;
uint32_t flight_sw_version = 0;
uint32_t middleware_sw_version = 0;
uint32_t os_sw_version = 0;
uint32_t board_version = 0;
uint8_t flight_custom_version[8];
uint8_t middleware_custom_version[8];
uint8_t os_custom_version[8];
uint16_t vendor_id = 0;
uint16_t product_id = 0;
uint64_t uid = 0;
#if defined(GIT_VERSION)
memcpy(flight_custom_version, GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(PX4_GIT_VERSION)
memcpy(middleware_custom_version, PX4_GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(NUTTX_GIT_VERSION)
memcpy(os_custom_version, NUTTX_GIT_VERSION, 8);
#else
memset(os_custom_version,0,8);
#endif
mavlink_msg_autopilot_version_send(
chan,
capabilities,
flight_sw_version,
middleware_sw_version,
os_sw_version,
board_version,
flight_custom_version,
middleware_custom_version,
os_custom_version,
vendor_id,
product_id,
uid
);
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
static NOINLINE void send_limits_status(mavlink_channel_t chan) static NOINLINE void send_limits_status(mavlink_channel_t chan)
{ {