mavlink: publish telemetry_status per instance with all HEARTBEATS from the same system

- one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS

msg/CMakeLists.txt

@@ -125,6 +125,7 @@ set(msg_files
 	system_power.msg
 	task_stack_info.msg
 	tecs_status.msg
+	telemetry_heartbeat.msg
 	telemetry_status.msg
 	test_motor.msg
 	timesync.msg

msg/telemetry_heartbeat.msg

@@ -0,0 +1,51 @@
+uint64 timestamp          # time since system start (microseconds)
+
+
+# COMPONENT (fill in as needed)
+uint8 COMP_ID_ALL                      = 0
+uint8 COMP_ID_AUTOPILOT1               = 1
+uint8 COMP_ID_TELEMETRY_RADIO          = 68
+uint8 COMP_ID_CAMERA                   = 100
+uint8 COMP_ID_GIMBAL                   = 154
+uint8 COMP_ID_LOG                      = 155
+uint8 COMP_ID_ADSB                     = 156
+uint8 COMP_ID_OSD                      = 157
+uint8 COMP_ID_PERIPHERAL               = 158
+uint8 COMP_ID_FLARM                    = 160
+uint8 COMP_ID_MISSIONPLANNER           = 190
+uint8 COMP_ID_OBSTACLE_AVOIDANCE       = 196
+uint8 COMP_ID_VISUAL_INERTIAL_ODOMETRY = 197
+uint8 COMP_ID_PAIRING_MANAGER          = 198
+uint8 COMP_ID_UDP_BRIDGE               = 240
+uint8 COMP_ID_UART_BRIDGE              = 241
+uint8 COMP_ID_TUNNEL_NODE              = 242
+
+uint8 system_id           # system id of the remote system (Mavlink header sys_id)
+uint8 component_id        # component id of the remote system (Mavlink header comp_id)
+
+
+# TYPE (fill in as needed)
+uint8 TYPE_GENERIC                     = 0
+uint8 TYPE_ANTENNA_TRACKER             = 5
+uint8 TYPE_GCS                         = 6
+uint8 TYPE_ONBOARD_CONTROLLER          = 18
+uint8 TYPE_GIMBAL                      = 26
+uint8 TYPE_ADSB                        = 27
+uint8 TYPE_CAMERA                      = 30
+uint8 TYPE_CHARGING_STATION            = 31
+
+uint8 type
+
+
+# STATE
+uint8 STATE_UNINIT                     = 0
+uint8 STATE_BOOT                       = 1
+uint8 STATE_CALIBRATING                = 2
+uint8 STATE_STANDBY                    = 3
+uint8 STATE_ACTIVE                     = 4
+uint8 STATE_CRITICAL                   = 5
+uint8 STATE_EMERGENCY                  = 6
+uint8 STATE_POWEROFF                   = 7
+uint8 STATE_FLIGHT_TERMINATION         = 8
+
+uint8 state

msg/telemetry_status.msg

@@ -4,36 +4,9 @@ uint8 LINK_TYPE_WIRE = 2
 uint8 LINK_TYPE_USB = 3
 uint8 LINK_TYPE_IRIDIUM	= 4
 
-# MAV_COMPONENT (fill in as needed)
-uint8 COMPONENT_ID_ALL		= 0
-uint8 COMPONENT_ID_AUTOPILOT1	= 1
-uint8 COMPONENT_ID_CAMERA	= 100
-uint8 COMPONENT_ID_OBSTACLE_AVOIDANCE = 196
-
-# MAV_TYPE (fill in as needed)
-uint8 MAV_TYPE_GENERIC = 0
-uint8 MAV_TYPE_GCS = 6
-uint8 MAV_TYPE_ONBOARD_CONTROLLER = 18
-
-# MAV_STATE
-uint8 MAV_STATE_UNINIT = 0
-uint8 MAV_STATE_BOOT = 1
-uint8 MAV_STATE_CALIBRATING = 2
-uint8 MAV_STATE_STANDBY = 3
-uint8 MAV_STATE_ACTIVE = 4
-uint8 MAV_STATE_CRITICAL = 5
-uint8 MAV_STATE_EMERGENCY = 6
-uint8 MAV_STATE_POWEROFF = 7
-uint8 MAV_STATE_FLIGHT_TERMINATION = 8
-
 uint64 timestamp			# time since system start (microseconds)
 
-uint64 heartbeat_time			# Time of last received heartbeat from remote system
-
-uint8 remote_system_id			# system id of the remote system (Mavlink header sys_id)
-uint8 remote_component_id		# component id of the remote system (Mavlink header comp_id)
-uint8 remote_type			# remote system status flag (Mavlink MAV_TYPE)
-uint8 remote_system_status		# remote system status flag (Mavlink MAV_STATE)
+telemetry_heartbeat[4] heartbeats
 
 uint8 type				#  type of the radio hardware (LINK_TYPE_*)
 
@@ -54,5 +27,3 @@ float32 rate_rx
 
 float32 rate_tx
 float32 rate_txerr
-
-uint8 ORB_QUEUE_LENGTH = 3

msg/tools/uorb_rtps_message_ids.yaml

@@ -295,6 +295,8 @@ rtps:
     id: 131
   - msg: yaw_estimator_status
     id: 132
+  - msg: telemetry_heartbeat
+    id: 133
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150