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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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src/modules/commander/Commander.hpp
+2 -2
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@@ -320,7 +320,7 @@ private:
bool _onboard_controller_lost{false};
bool _avoidance_system_lost{false};
bool _avoidance_system_status_change{false};
uint8_t _datalink_last_status_avoidance_system{telemetry_status_s::MAV_STATE_UNINIT};
uint8_t _datalink_last_status_avoidance_system{telemetry_heartbeat_s::STATE_UNINIT};
hrt_abstime _high_latency_datalink_heartbeat{0};
hrt_abstime _high_latency_datalink_lost{0};
@@ -406,7 +406,7 @@ private:
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _subsys_sub{ORB_ID(subsystem_info)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _telemetry_status_sub{ORB_ID(telemetry_status)};
uORB::Subscription _telemetry_status_sub[ORB_MULTI_MAX_INSTANCES] {{ORB_ID(telemetry_status), 0}, {ORB_ID(telemetry_status), 1}, {ORB_ID(telemetry_status), 2}, {ORB_ID(telemetry_status), 3}};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};