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1073 Commits

Author SHA1 Message Date
Peter Barker 6cb8fcc466 GCS_MAVLink: move use of AP_AHRS_NAVEKF_AVAILABLE into cpp file 
This is defined in AP_AHRS which we only get transitively in the header
 2019-07-09 22:32:57 +10:00
Peter Barker 1ebbe45fe1 GCS_MAVLink: split sending of RC_CHANNELS and RC_CHANNELS_RAW 
Before this patch is applied we may never send the second message
because there's not room for it in the buffer and we can't return
failure-to-send (always interpreted as "retry") as we're in a void function.

Further, if you are on a mavlink2 connection we will not send out the
RC_CHANNELS_RAW message, depriving the user of any RC_CHANNELS messages.

This patch does have the drawback of doing more work on a mavlink1
connection - it has to fetch the data twice.  On the other hand, it also
allows the GCS to set the message rates independently for both
RC_CHANNELS and RC_CHANNELS_RAW so one or the other can be squelched.
That could be handy for reducing bandwidth if you know you're not using
more than 8 input channels.
 2019-07-09 13:08:45 +10:00
Peter Barker c8353c1c13 GCS_MAVLink: fill target system and target component in MISSION_ITEM responses 2019-07-09 09:25:06 +10:00
Peter Barker c6533723de GCS_Param: correct sending of parameters of length 16 2019-07-06 18:06:17 +10:00
Peter Barker ebd8170a15 GCS_MAVLink: add missing include for AP_RTC 2019-07-04 13:57:40 +10:00
Peter Barker f31b7b5772 GCS_MAVLink: remove stray undef of undefined macro 2019-07-02 10:02:55 +10:00
Michael du Breuil 18e979fd4f GCS_MAVLink: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Michael du Breuil f955a4e4d5 GCS_MAVLink: Don't retain a FrSky instance if we aren't using it 
Saves 96 bytes of RAM
 2019-06-26 11:59:41 +10:00
Peter Barker 278ac5e6ed GCS_MAVLink: correct deferred body timing debug 2019-06-25 19:59:49 +10:00
Peter Barker feddaabc42 GCS_MAVLink: handle out-of-time to send messages in parent class 2019-06-25 10:29:40 +10:00
Andrew Tridgell f28df4dff1 GCS_MAVLink: support MAV_CMD_BATTERY_RESET command 2019-06-25 09:56:25 +10:00
Peter Barker a55c40949b GCS_MAVLink: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker ca449cd979 GCS_MAVLink: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker 45fab82345 GCS_MAVLink: eliminate redundant static pointer to serialmanager 2019-06-25 09:47:08 +10:00
Andrew Tridgell b6dbb8f464 GCS_MAVLink: always show AHRS healthy with EKF type 10 
this fixes an issue noticed by Marco with xplane
 2019-06-25 00:28:45 +08:00
Peter Barker c11da6a85d GCS_MAVLink: routing example: use GCS_Dummy in place of custom GCS 2019-06-20 11:41:19 +10:00
Peter Barker 0963957b31 GCS_MAVLink: correct GCS_Dummy firmware version 2019-06-18 10:54:01 +10:00
Peter Barker c39a622653 GCS_MAVLink: take sw_version from AP_FWVersion struct 2019-06-18 10:54:01 +10:00
Peter Barker a2c4bfea0c GCS_MAVLink: use send_to_active_channels for parameters 2019-06-18 10:27:56 +10:00
Michael du Breuil be7afe346b GCS_MAVLink: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil 8c00102259 GCS_MAVLink: Reduce scoping on AP_BattMonitor include 2019-06-18 10:02:05 +10:00
Peter Barker ae85994c59 GCS_MAVLink: include internal error count as errors4 in SYS_STATUS 2019-06-12 10:05:59 +10:00
Peter Barker f385a4a329 GCS_Common: fix compiler warnings on missing parentheses 2019-06-11 21:50:53 +10:00
Randy Mackay 6ed09d83f3 GCS_MAVLink: send_home_position uses const Location reference 2019-06-11 13:13:22 +09:00
Rajat Singhal bc22aeb4da GCS_Mavlink: Correct format specifier in UART panic message 2019-06-11 13:36:03 +10:00
Peter Barker a025794bae GCS_MAVLink: correct is_streaming check and update of is-streaming mask 2019-06-11 09:26:10 +10:00
Peter Barker 264a757095 GCS_MAVLink: add send_to_active_channels method 2019-06-06 12:41:48 +10:00
Peter Barker 4d46c801f2 GCS_MAVLink: panic in SITL if we fail to write to uart 2019-06-06 12:41:48 +10:00
Peter Barker 99c56c1770 GCS_MAVLink: fix MAV.txp log field 
This was being promoted to an unsigned.
 2019-06-04 09:05:37 +10:00
Peter Barker 75ae6b59b0 GCS_MAVLink: allow Copter to disallow mavlink disarm 2019-05-30 07:37:30 +09:00
Peter Barker e340873d88 GCS_MAVLink: canonicalise on success on commanded-to-arm-when-armed 
This means the mavlink return value indicates the current arm status of
the vehicle rather than success/failure of transitioning to the armed or
disarmed state (where trying to arm when armed is considered a failure).

MAVLink is a lossy communication mechanism.  It would not be
unreasonable for a GCS to issue a disarm command multiple times to
increase the chances of the command getting through.
 2019-05-30 07:37:30 +09:00
Peter Barker b857d2c1af GCS_MAVLink: handle MAV_CMD_COMPONENT_ARM_DISARM 2019-05-30 07:37:30 +09:00
Peter Barker 1b90643751 GCS_MAVLink: report more internal errors in SYS_STATUS 2019-05-23 07:29:29 +10:00
Peter Barker d0105c8fa7 GCS_MAVLink: factor mission handling, use for Rally 
GCS_MAVLink: allow all mission types to be cleared

GCS_MAVLink: remove unused parameters from handle-mission-count
 2019-05-22 08:53:45 +10:00
Andrew Tridgell e2d863498b GCS_MAVLink: clear last msgs when done 
this makes MON and WDOG logs clearer
 2019-05-17 08:56:06 +10:00
Andrew Tridgell 64c723fd31 GCS_MAVLink: record mavlink msg IDs for watchdog 2019-05-15 15:33:48 +10:00
Andrew Tridgell 3772f58be9 GCS_MAVLink: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Tom Pittenger 1f3c3c853f GCS_MAVLink: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Tom Pittenger 4c641c6e2b GCS_MAVLink: comply with mavlink spec to ignore rc_override UINT16_MAX 2019-05-10 15:30:54 -07:00
Jaaaky 971e3af826 GCS_MAVLink: prgama away address-of-packed-member only for g++ >= 9 2019-05-03 01:57:26 +10:00
Peter Barker 9273ac3631 GCS_MAVLink: pragma away address-of-packed-member 
g++-9 throws a lot of warnings for taking addresses of packed members.
We can have this warning for our ArduPilot code, but there's way too
many issues within MAVLink to put up with.
 2019-05-01 19:36:49 -07:00
Peter Barker a0c80a0b3b GCS_MAVLink: make send_text and send_textv const 2019-05-01 10:18:46 +10:00
Peter Barker e6653f42dd GCS_MAVLink: correct examples with override keyword 2019-04-30 09:29:59 +10:00
Pierre Kancir e3057b40f3 GCS_MAVLINK: remove mavlink send_buf usage 2019-04-23 09:41:00 +10:00
Pierre Kancir cc14885913 GCS_MAVLINK: remove mavlink send_buf usage 2019-04-23 09:41:00 +10:00
Andrew Tridgell 2313970eaf GCS_MAVLink: added method to lockup autopilot 
used for watchdog testing
 2019-04-22 16:53:35 +10:00
Peter Barker c143ec47da GCS_MAVLink: Bitmask is now a template 2019-04-16 15:12:07 +10:00
Peter Barker efb98437e6 GCS_MAVLink: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Peter Barker 08cbf18958 GCS_MAVLink: header include fixes for RSSI changes 2019-04-09 09:33:13 +10:00
Pierre Kancir 5a7081b457 GCS_MAVLink: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Andrew Tridgell f998a74adf GCS_MAVLink: don't report SCALED_PRESSURE2 with a non-existant airspeed sensor 2019-04-08 12:52:19 +10:00
Randy Mackay bbd051b246 GCS_MAVLink: send OPTICAL_FLOW messages to optical flow driver 2019-04-08 11:26:59 +09:00
Peter Barker 31daaf9933 GCS_MAVLink: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Peter Barker 5c4983ffcd GCS_MAVLink: stop converting compass cal floats to ints before saving 2019-04-05 06:09:25 -07:00
Michael du Breuil 8cafbe394f GCS_MAVLink: Fix includes 2019-04-05 20:12:53 +11:00
Rajat Singhal b7a40f2bfe GCS_Mavlink: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger 8845cc2053 GCS_MAVLink: rename dataflash to logger 2019-03-28 16:40:58 +11:00
Peter Barker 30a66d9f13 GCS_MAVLink: implement a convenience manual_override method 2019-03-27 22:33:47 -07:00
Randy Mackay b496af411e GCS_MAVLink: fix typo 2019-03-28 13:54:19 +09:00
Peter Barker 778bff966c GCS_MAVLink: stop passing dataflash into handle_radio_status 
It can use the singleton instead
 2019-03-27 10:38:39 +11:00
Peter Barker 0ef26a6950 GCS_MAVLink: add support for request_message 2019-03-26 16:20:50 +11:00
Peter Barker 2796beac8d GCS_MAVLink: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
Peter Barker b3203601f3 GCS_MAVLink: send internal errors as bitmask in sys_status 2019-03-21 21:34:33 +11:00
Peter Barker 236056ffbd GCS_MAVLink: take 0,0 as meaning set-home-to-current-location 
This isn't in spec, but is what Sub used to do, and what other vehicles
also used to do.

We treat 0,0 as "current location" in various other places, so it kind
of makes sense here too.
 2019-03-19 19:56:13 +11:00
Peter Barker 95745f0d31 GCS_MAVLink: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker bc2080cea2 GCS_MAVLink: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 3100c8edad GCS_MAVLink: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00
Peter Barker cf264a7d5e GCS_MAVLink: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker b12d20d86c GCS_MAVLink: add support for frame_string 2019-03-19 14:39:14 +11:00
Peter Barker ab1c42696c GCS_MAVLink: move FRsky telemetry up into common GCS telemetry class 2019-03-19 14:39:14 +11:00
Peter Barker 5eb9622105 GCS_MAVLink: correct compilation for ALT_FRAME issue 2019-03-19 12:06:03 +11:00
Michael du Breuil 75caad52c0 GCS_MAVLink: Always check the return value on get_velocity_NED 2019-03-19 11:42:54 +11:00
Andrew Tridgell 778b88cba2 GCS_MAVLink: disable reboot when armed 
this prevents reboot on vehicles that have ARMING_REQUIRE=0, which
applies to some planes, but those vehicles tend to not use MAVLink
reboot anyway.
 2019-03-19 10:53:37 +11:00
Peter Barker 3dc2db8d9a GCS_MAVLink: queue parameter request even if we can't fit a reply ATM 2019-03-19 10:37:09 +11:00
Peter Barker 4eba6d4fe2 GCS_MAVLink: exempt requested parameters from buffer space reservation 
Fixes a problem where we reserve space to send replies but then do not
bypass the reserved-space checks when sending them.
 2019-03-19 10:37:09 +11:00
Peter Barker f0200a4d9b GCS_MAVLink: GCS_Common: correct overflows in bandwidth and count calculations 2019-03-19 10:37:09 +11:00
Peter Barker 716b0fdc88 GCS_MAVLink: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker bb1ae30594 GCS_MAVLink: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay 27b50f125c GCS_MAVLink: send_set_position_target always sends alt-above-home 2019-03-15 14:51:35 +09:00
Randy Mackay 066a443e5f GCS_MAVLink: add send_set_position_target_global_int 
this supports sending the position target to an offboard navigation controller
 2019-03-15 14:51:35 +09:00
Peter Barker 34e09a55be GCS_MAVLink: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Michael du Breuil f7b34677df GCS_MAVLink: Don't send BATTERY_STATUS for empty instances 2019-03-11 22:42:59 +00:00
Peter Barker 74702b8688 GCS_MAVLink: make sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
IamPete1 20d79207d8 GCS_MAVLink: make send_global_position_int virtual 2019-03-01 20:57:54 +11:00
Peter Barker ace5192852 GCS_MAVLink: retry sending home/origin if it fails 
Also grants us the ability to stream these messages
 2019-02-26 14:01:41 +11:00
Peter Barker 9f27e91f33 GCS_MAVLink: add simple stats to dataflash 2019-02-26 11:23:57 +11:00
Peter Barker 138d93702a GCS_MAVLink: use Location to change alt frames 2019-02-26 10:35:39 +11:00
Peter Barker 49493676ea GCS_MAVLink: use MAV_PARAM_TYPE for sending parameter messages 
... rather than mavlink_message_type_t
 2019-02-26 08:20:25 +11:00
Peter Barker 8de4ee7348 GCS_MAVLink: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker cb33f290a7 GCS_MAVLink: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 
These are a per-vehicle thing, not a per-mavlink-backend thing.
 2019-02-19 14:09:59 +11:00
Peter Barker 91c8d0b915 GCS_MAVLink: clarify packetReceive calling handlemessage checks 
modules/libcanard/
 2019-02-19 13:40:32 +11:00
Peter Barker bfb3f0d62e GCS_MAVLink: make capabilities comes from subclass, not HAL 2019-02-19 13:14:52 +11:00
Peter Barker de615ee11d GCS_MAVLink: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Randy Mackay f8e49e5438 GCS_MAVLink: call send_esc_telemetry for AP_ToshibaCAN ESCs 2019-02-18 20:55:47 +09:00
Peter Barker 4a0887b807 GCS_MAVLink: measure stream slowdown in ms 
This costs us a couple of extra bytes of RAM and gains us not doing a
whole heap of multiplies
 2019-02-16 13:45:47 +11:00
Peter Barker 63427629e1 GCS_MAVLink: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker dffc5568fe GCS_MAVLink: remove redundant home validation checks 2019-02-15 08:28:45 +11:00
Peter Barker d8847a6192 GCS_MAVLink: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker 64b4e69e34 GCS_MAVLink: break out an altitude enumeration mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger 9f0e895c37 GCS_MAVLink: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00