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voxl_esc: Added Mavlink tunnel UART pass-through mechanism

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This commit is contained in:
Eric Katzfey
2025-02-20 15:11:09 -08:00
committed by Daniel Agar
parent d4918ea118
commit 5fb810a5ea
5 changed files with 30 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+10 -1
View File
@@ -1976,7 +1976,16 @@ MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
memcpy(tunnel.payload, mavlink_tunnel.payload, sizeof(tunnel.payload));
static_assert(sizeof(tunnel.payload) == sizeof(mavlink_tunnel.payload), "mavlink_tunnel.payload size mismatch");
_mavlink_tunnel_pub.publish(tunnel);
switch (mavlink_tunnel.payload_type) {
case MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_ESC_UART_PASSTHRU:
_esc_serial_passthru_pub.publish(tunnel);
break;
default:
_mavlink_tunnel_pub.publish(tunnel);
break;
}
}
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -307,6 +307,7 @@ private:
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<mavlink_tunnel_s> _mavlink_tunnel_pub{ORB_ID(mavlink_tunnel)};
uORB::Publication<mavlink_tunnel_s> _esc_serial_passthru_pub{ORB_ID(esc_serial_passthru)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};