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Mavlink FLIGHT_INFORMATION fix arming time (ms -> us) and add takeoff time

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- fixes https://github.com/PX4/PX4-Autopilot/issues/16393
This commit is contained in:
Daniel Agar
2020-12-16 09:38:05 -05:00
parent b23d8244f0
commit 336176b2f0
6 changed files with 28 additions and 22 deletions
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src/modules/mavlink/streams/FLIGHT_INFORMATION.hpp
+17 -12
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@@ -34,7 +34,7 @@
#ifndef FLIGHT_INFORMATION_HPP
#define FLIGHT_INFORMATION_HPP
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_status.h>
class MavlinkStreamFlightInformation : public MavlinkStream
{
@@ -58,26 +58,31 @@ private:
_param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
}
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
param_t _param_com_flight_uuid;
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
param_t _param_com_flight_uuid{PARAM_INVALID};
bool send() override
{
actuator_armed_s actuator_armed{};
bool ret = _armed_sub.copy(&actuator_armed);
if (ret && actuator_armed.timestamp != 0) {
int32_t flight_uuid;
param_get(_param_com_flight_uuid, &flight_uuid);
vehicle_status_s vehicle_status{};
if (_vehicle_status_sub.copy(&vehicle_status) && vehicle_status.timestamp != 0) {
mavlink_flight_information_t flight_info{};
flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
flight_info.time_boot_ms = hrt_absolute_time() / 1000;
flight_info.arming_time_utc = vehicle_status.armed_time;
flight_info.takeoff_time_utc = vehicle_status.takeoff_time;
int32_t flight_uuid;
if (param_get(_param_com_flight_uuid, &flight_uuid) == PX4_OK) {
flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
}
mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
return true;
}
return ret;
return false;
}
};