set_message_interval takes a port number, not a channel number (it was originally written as an internal function, after all). Before this patch we were double-mapping from one to the other. That works so long as the port you are mapping also corresponds to the chanel number - which it will, for example, if you are using serial2 with both serial0 and serial1 also set to mavlink. If you set serial5_protocol to 2 an attempt to use it for controlling a gremsy it will *not* work because we map into backwards twice.
this fixes a pre-arm failure "GPS 1 failing configuration checks" on
non-M10 GPS modules, including AP_Periph
it also adds the ublox unconfigured msgs to the DroneCAN GNSS.Status
errors field for easier diagnosis of this type of issue in the future
remove any discrepancy which has crept in over the last few seconds
this also ensures that relative_altitude is updated, and copes with
the EKF refusing the resetHeightDatum call
if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on
This results from two issues:
- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
Failing due to being out of time meant we wouldn't incremement the counter, even though we'd emitted the item.
it is important we try to send something, so move this check to be after we increment whichever counter we are using.
RemoteID modules are required to set EMERGENCY status on uncontrolled
descent or crash. This fixes our implementation to do that, either via
existing vehicle crash checking code or via a parachute release
this fixes a regression from 4.2 to 4.3.
previously we automatically set the diagnoals to 1,1,1 if they were
0,0,0. We don't do that any more. I was helping a user who had copied
an old config with 0,0,0 for diagonals and did not understand two
things:
- the compass did not work in 4.3
- large vehicle mag cal didn't work
