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GCS_MAVLink: added fields for new mavlink2 extensions

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This commit is contained in:
Andrew Tridgell 2021-08-19 08:56:37 +10:00
parent 0268506678
commit d92c5589a9
1 changed files with 17 additions and 5 deletions
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22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -263,7 +263,9 @@ void GCS_MAVLINK::send_battery_status(const uint8_t instance) const
battery.capacity_remaining_pct(instance), battery.capacity_remaining_pct(instance),
0, // time remaining, seconds (not provided) 0, // time remaining, seconds (not provided)
battery.get_mavlink_charge_state(instance), // battery charge state battery.get_mavlink_charge_state(instance), // battery charge state
cell_volts_ext); // Cell 11..14 voltages cell_volts_ext, // Cell 11..14 voltages
0, // battery mode
0); // fault_bitmask
} }
// returns true if all battery instances were reported // returns true if all battery instances were reported
@ -2212,7 +2214,10 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
// exist, but if it did we'd probably be acking something // exist, but if it did we'd probably be acking something
// completely unrelated to setting modes. // completely unrelated to setting modes.
if (HAVE_PAYLOAD_SPACE(chan, COMMAND_ACK)) { if (HAVE_PAYLOAD_SPACE(chan, COMMAND_ACK)) {
mavlink_msg_command_ack_send(chan, MAVLINK_MSG_ID_SET_MODE, result); mavlink_msg_command_ack_send(chan, MAVLINK_MSG_ID_SET_MODE, result,
0, 0,
msg.sysid,
msg.compid);
} }
} }
@ -2775,7 +2780,8 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
} }
// send ack before we reboot // send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED); mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED,
0, 0, 0, 0);
// when packet.param1 == 3 we reboot to hold in bootloader // when packet.param1 == 3 we reboot to hold in bootloader
const bool hold_in_bootloader = is_equal(packet.param1, 3.0f); const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
@ -4272,7 +4278,10 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
const MAV_RESULT result = handle_command_long_packet(packet); const MAV_RESULT result = handle_command_long_packet(packet);
// send ACK or NAK // send ACK or NAK
mavlink_msg_command_ack_send(chan, packet.command, result); mavlink_msg_command_ack_send(chan, packet.command, result,
0, 0,
msg.sysid,
msg.compid);
// log the packet: // log the packet:
mavlink_command_int_t packet_int; mavlink_command_int_t packet_int;
@ -4459,7 +4468,10 @@ void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg)
const MAV_RESULT result = handle_command_int_packet(packet); const MAV_RESULT result = handle_command_int_packet(packet);
// send ACK or NAK // send ACK or NAK
mavlink_msg_command_ack_send(chan, packet.command, result); mavlink_msg_command_ack_send(chan, packet.command, result,
0, 0,
msg.sysid,
msg.compid);
AP::logger().Write_Command(packet, result); AP::logger().Write_Command(packet, result);