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

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- one telemetry_status publication per mavlink instance
 - each telemetry_status has an array of HEARTBEATS
This commit is contained in:
Daniel Agar
2020-08-07 12:23:52 -04:00
committed by GitHub
parent f950fe8a38
commit 3002e74b4f
9 changed files with 192 additions and 106 deletions
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msg/telemetry_status.msg
+1 -30
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@@ -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