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GCS_MAVLink: integrate new ADSB Ping200X/MissionPlanner new mavlink config and status commands

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This commit is contained in:
nicholas-inocencio 2021-10-13 16:26:20 -07:00 committed by Tom Pittenger
parent 9349abfe48
commit 9ca681c76d
3 changed files with 25 additions and 11 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -321,6 +321,7 @@ public:
#if HAL_HIGH_LATENCY2_ENABLED
void send_high_latency2() const;
#endif // HAL_HIGH_LATENCY2_ENABLED
void send_uavionix_adsb_out_status() const;
// lock a channel, preventing use by MAVLink
void lock(bool _lock) {

34
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -890,6 +890,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_WATER_DEPTH, MSG_WATER_DEPTH},
{ MAVLINK_MSG_ID_HIGH_LATENCY2, MSG_HIGH_LATENCY2},
{ MAVLINK_MSG_ID_AIS_VESSEL, MSG_AIS_VESSEL},
{ MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
};
for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@ -3599,6 +3600,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CONTROL:
handle_adsb_message(msg);
break;
@ -4280,22 +4282,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
case MAV_CMD_BATTERY_RESET:
result = handle_command_battery_reset(packet);
break;
case MAV_CMD_DO_ADSB_OUT_IDENT:
#if HAL_ADSB_ENABLED
if (AP::ADSB() == nullptr) {
result = MAV_RESULT_UNSUPPORTED;
} else if (AP::ADSB()->ident_is_active()) {
result = MAV_RESULT_TEMPORARILY_REJECTED;
} else if (AP::ADSB()->ident_start()) {
case MAV_CMD_DO_ADSB_OUT_IDENT:
if ((AP::ADSB() != nullptr) && AP::ADSB()->ident_start()) {
result = MAV_RESULT_ACCEPTED;
} else {
}
else {
result = MAV_RESULT_FAILED;
}
#else
result = MAV_RESULT_UNSUPPORTED;
#endif
break;
#endif
case MAV_CMD_PREFLIGHT_UAVCAN:
result = handle_command_preflight_can(packet);
@ -4936,6 +4933,16 @@ void GCS_MAVLINK::send_water_depth() const
#endif
}
void GCS_MAVLINK::send_uavionix_adsb_out_status() const
{
#if HAL_ADSB_ENABLED
AP_ADSB *adsb = AP::ADSB();
if (adsb != nullptr) {
adsb->send_adsb_out_status(chan);
}
#endif
}
bool GCS_MAVLINK::try_send_message(const enum ap_message id)
{
bool ret = true;
@ -5258,6 +5265,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
case MSG_UAVIONIX_ADSB_OUT_STATUS:
CHECK_PAYLOAD_SIZE(UAVIONIX_ADSB_OUT_STATUS);
send_uavionix_adsb_out_status();
break;
default:
// try_send_message must always at some stage return true for
// a message, or we will attempt to infinitely retry the

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -80,5 +80,6 @@ enum ap_message : uint8_t {
MSG_HIGH_LATENCY2,
MSG_AIS_VESSEL,
MSG_MCU_STATUS,
MSG_UAVIONIX_ADSB_OUT_STATUS,
MSG_LAST // MSG_LAST must be the last entry in this enum
};