mavlink debug messages disable on CONSTRAINED_FLASH boards

- mavlink messages DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT move to separate stream headers and don't include if CONSTRAINED_FLASH
 - mavlink receiver DEBUG/DEBUG_FLOAT_ARRAY/DEBUG_VECT/NAMED_VALUE_FLOAT handling excluded if CONSTRAINED_FLASH
 - msg: skip debug_array.msg, debug_key_value.msg, debug_value.msg, debug_vect.msg if CONSTRAINED_FLASH

src/modules/mavlink/streams/DEBUG.hpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef DEBUG_HPP
+#define DEBUG_HPP
+
+#include <uORB/topics/debug_value.h>
+
+class MavlinkStreamDebug : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebug(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_value_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_value_sub{ORB_ID(debug_value)};
+
+	bool send() override
+	{
+		debug_value_s debug;
+
+		if (_debug_value_sub.update(&debug)) {
+			mavlink_debug_t msg{};
+			msg.time_boot_ms = debug.timestamp / 1000ULL;
+			msg.ind = debug.ind;
+			msg.value = debug.value;
+
+			mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_HPP

src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef DEBUG_FLOAT_ARRAY_HPP
+#define DEBUG_FLOAT_ARRAY_HPP
+
+#include <uORB/topics/debug_array.h>
+
+class MavlinkStreamDebugFloatArray : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugFloatArray(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG_FLOAT_ARRAY"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_array_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_array_sub{ORB_ID(debug_array)};
+
+	bool send() override
+	{
+		debug_array_s debug;
+
+		if (_debug_array_sub.update(&debug)) {
+			mavlink_debug_float_array_t msg{};
+
+			msg.time_usec = debug.timestamp;
+			msg.array_id = debug.id;
+			memcpy(msg.name, debug.name, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+
+			for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
+				msg.data[i] = debug.data[i];
+			}
+
+			mavlink_msg_debug_float_array_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_FLOAT_ARRAY_HPP

src/modules/mavlink/streams/DEBUG_VECT.hpp

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef DEBUG_VECT_HPP
+#define DEBUG_VECT_HPP
+
+#include <uORB/topics/debug_vect.h>
+
+class MavlinkStreamDebugVect : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugVect(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG_VECT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_VECT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_VECT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_sub{ORB_ID(debug_vect)};
+
+	bool send() override
+	{
+		debug_vect_s debug;
+
+		if (_debug_sub.update(&debug)) {
+			mavlink_debug_vect_t msg{};
+			msg.time_usec = debug.timestamp;
+			memcpy(msg.name, debug.name, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+			msg.x = debug.x;
+			msg.y = debug.y;
+			msg.z = debug.z;
+
+			mavlink_msg_debug_vect_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_VECT_HPP

src/modules/mavlink/streams/NAMED_VALUE_FLOAT.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef NAMED_VALUE_FLOAT_HPP
+#define NAMED_VALUE_FLOAT_HPP
+
+#include <uORB/topics/debug_key_value.h>
+
+class MavlinkStreamNamedValueFloat : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNamedValueFloat(mavlink); }
+
+	static constexpr const char *get_name_static() { return "NAMED_VALUE_FLOAT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_key_value_sub.advertised() ? MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_key_value_sub{ORB_ID(debug_key_value)};
+
+	bool send() override
+	{
+		debug_key_value_s debug;
+
+		if (_debug_key_value_sub.update(&debug)) {
+			mavlink_named_value_float_t msg{};
+
+			msg.time_boot_ms = debug.timestamp / 1000ULL;
+			memcpy(msg.name, debug.key, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+			msg.value = debug.value;
+
+			mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // NAMED_VALUE_FLOAT_HPP