update mavlink to master, rename MOUNT_STATUS

The mavlink message MOUNT_STATUS has been renamed to MOUNT_ORIENTATION.

This changes the Firmware code accordingly.

mavlink/include/mavlink/v1.0

@@ -1 +1 @@
-Subproject commit d6e317e1ca97bf4ac4a6d1d4e8eb1fd85b7c7a1a
+Subproject commit fb57c62ee8b14c86f423d1549a90e0f6879584dc

mavlink/include/mavlink/v2.0

@@ -1 +1 @@
-Subproject commit 714eab3a4ffadd09e86f8e56a31a17237ad35a08
+Subproject commit 10d730a446995b989e88ee15f14d9c28a3a428cc

msg/CMakeLists.txt

@@ -122,7 +122,7 @@ set(msg_file_names
 	vtol_vehicle_status.msg
 	wind_estimate.msg
 	vehicle_roi.msg
-	mount_status.msg
+	mount_orientation.msg
 	collision_report.msg
 	)
 

src/drivers/vmount/output.cpp

@@ -44,7 +44,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/mount_status.h>
+#include <uORB/topics/mount_orientation.h>
 #include <px4_defines.h>
 #include <geo/geo.h>
 #include <math.h>
@@ -86,13 +86,13 @@ int OutputBase::initialize()
 void OutputBase::publish()
 {
 	int instance;
-	mount_status_s mount_status;
+	mount_orientation_s mount_orientation;
 
 	for (unsigned i = 0; i < 3; ++i) {
-		mount_status.attitude_euler_angle[i] = _angle_outputs[i];
+		mount_orientation.attitude_euler_angle[i] = _angle_outputs[i];
 	}
 
-	orb_publish_auto(ORB_ID(mount_status), &_mount_status_pub, &mount_status, &instance, ORB_PRIO_DEFAULT);
+	orb_publish_auto(ORB_ID(mount_orientation), &_mount_orientation_pub, &mount_orientation, &instance, ORB_PRIO_DEFAULT);
 }
 
 float OutputBase::_calculate_pitch(double lon, double lat, float altitude,

src/drivers/vmount/output.h

@@ -80,7 +80,7 @@ public:
 	/** report status to stdout */
 	virtual void print_status() = 0;
 
-	/** Publish _angle_outputs as a mount_status message. */
+	/** Publish _angle_outputs as a mount_orientation message. */
 	void publish();
 
 protected:
@@ -114,7 +114,7 @@ private:
 	int _vehicle_attitude_sub = -1;
 	int _vehicle_global_position_sub = -1;
 
-	orb_advert_t _mount_status_pub = nullptr;
+	orb_advert_t _mount_orientation_pub = nullptr;
 };
 
 

src/modules/mavlink/mavlink_messages.cpp

@@ -89,7 +89,7 @@
 #include <uORB/topics/vision_position_estimate.h>
 #include <uORB/topics/vtol_vehicle_status.h>
 #include <uORB/topics/wind_estimate.h>
-#include <uORB/topics/mount_status.h>
+#include <uORB/topics/mount_orientation.h>
 #include <uORB/topics/collision_report.h>
 #include <uORB/uORB.h>
 
@@ -3526,22 +3526,22 @@ protected:
 	}
 };
 
-class MavlinkStreamMountStatus : public MavlinkStream
+class MavlinkStreamMountOrientation : public MavlinkStream
 {
 public:
 	const char *get_name() const
 	{
-		return MavlinkStreamMountStatus::get_name_static();
+		return MavlinkStreamMountOrientation::get_name_static();
 	}
 
 	static const char *get_name_static()
 	{
-		return "MOUNT_STATUS";
+		return "MOUNT_ORIENTATION";
 	}
 
 	static uint16_t get_id_static()
 	{
-		return MAVLINK_MSG_ID_MOUNT_STATUS;
+		return MAVLINK_MSG_ID_MOUNT_ORIENTATION;
 	}
 
 	uint16_t get_id()
@@ -3551,43 +3551,43 @@ public:
 
 	static MavlinkStream *new_instance(Mavlink *mavlink)
 	{
-		return new MavlinkStreamMountStatus(mavlink);
+		return new MavlinkStreamMountOrientation(mavlink);
 	}
 
 	unsigned get_size()
 	{
-		return (_mount_status_time > 0) ? MAVLINK_MSG_ID_MOUNT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+		return (_mount_orientation_time > 0) ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
 	}
 
 private:
-	MavlinkOrbSubscription *_mount_status_sub;
+	MavlinkOrbSubscription *_mount_orientation_sub;
-	uint64_t _mount_status_time;
+	uint64_t _mount_orientation_time;
 
 	/* do not allow top copying this class */
-	MavlinkStreamMountStatus(MavlinkStreamMountStatus &);
+	MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &);
-	MavlinkStreamMountStatus &operator = (const MavlinkStreamMountStatus &);
+	MavlinkStreamMountOrientation &operator = (const MavlinkStreamMountOrientation &);
 
 protected:
-	explicit MavlinkStreamMountStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
+	explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink),
-		_mount_status_sub(_mavlink->add_orb_subscription(ORB_ID(mount_status))),
+		_mount_orientation_sub(_mavlink->add_orb_subscription(ORB_ID(mount_orientation))),
-		_mount_status_time(0)
+		_mount_orientation_time(0)
 	{}
 
 	void send(const hrt_abstime t)
 	{
-		struct mount_status_s mount_status = {};
+		struct mount_orientation_s mount_orientation = {};
 
-		bool updated = _mount_status_sub->update(&_mount_status_time, &mount_status);
+		bool updated = _mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation);
 
 		if (updated) {
 
-			mavlink_mount_status_t msg = {};
+			mavlink_mount_orientation_t msg = {};
 
-			msg.roll = 180.0f / M_PI_F * mount_status.attitude_euler_angle[0];
+			msg.roll = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[0];
-			msg.pitch = 180.0f / M_PI_F * mount_status.attitude_euler_angle[1];
+			msg.pitch = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[1];
-			msg.yaw = 180.0f / M_PI_F * mount_status.attitude_euler_angle[2];
+			msg.yaw = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[2];
 
-			mavlink_msg_mount_status_send_struct(_mavlink->get_channel(), &msg);
+			mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
 		}
 	}
 };
@@ -3637,6 +3637,6 @@ const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static),
 	new StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static),
 	new StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static),
-	new StreamListItem(&MavlinkStreamMountStatus::new_instance, &MavlinkStreamMountStatus::get_name_static, &MavlinkStreamMountStatus::get_id_static),
+	new StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static),
 	nullptr
 };