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write sysid & compid to telemetry status

This commit is contained in:
Thomas Gubler 2014-09-03 10:34:27 +02:00
parent e5650df321
commit 3d01da35d0
2 changed files with 4 additions and 0 deletions
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2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -534,6 +534,8 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
tstatus.system_id = msg->sysid;
tstatus.component_id = msg->compid;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);

2
src/modules/uORB/topics/telemetry_status.h
View File

@ -67,6 +67,8 @@ struct telemetry_status_s {
uint8_t noise; /**< background noise level */
uint8_t remote_noise; /**< remote background noise level */
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
uint8_t system_id; /**< system id of the remote system */
uint8_t component_id; /**< component id of the remote system */
};
/**