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mavlink: telemetry status only log simple HEARTBEAT validity

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* delete telemetry_heartbeat msg
 * delete unused _telemetry_status_mutex
This commit is contained in:
Daniel Agar
2020-10-13 13:37:10 -04:00
committed by GitHub
parent d71ca37087
commit 8d1b99be31
10 changed files with 187 additions and 206 deletions
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msg/CMakeLists.txt
-1
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@@ -130,7 +130,6 @@ 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
-51
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@@ -1,51 +0,0 @@
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
+24 -2
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@@ -6,8 +6,6 @@ uint8 LINK_TYPE_IRIDIUM = 4
uint64 timestamp # time since system start (microseconds)
telemetry_heartbeat[4] heartbeats
uint8 type # type of the radio hardware (LINK_TYPE_*)
uint8 mode
@@ -27,3 +25,27 @@ float32 rate_rx
float32 rate_tx
float32 rate_txerr
uint64 HEARTBEAT_TIMEOUT_US = 1500000 # Heartbeat timeout 1.5 seconds
# Heartbeats per type
bool heartbeat_type_antenna_tracker # MAV_TYPE_ANTENNA_TRACKER
bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
bool heartbeat_type_camera # MAV_TYPE_CAMERA
# Heartbeats per component
bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
bool heartbeat_component_log # MAV_COMP_ID_LOG
bool heartbeat_component_osd # MAV_COMP_ID_OSD
bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
bool heartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
# Misc component health
bool avoidance_system_healthy
msg/tools/uorb_rtps_message_ids.yaml
+5 -7
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@@ -277,18 +277,16 @@ rtps:
id: 131
- msg: yaw_estimator_status
id: 132
- msg: telemetry_heartbeat
id: 133
- msg: sensor_preflight_mag
id: 134
id: 133
- msg: estimator_states
id: 135
id: 134
- msg: generator_status
id: 136
id: 135
- msg: sensor_gyro_fft
id: 137
id: 136
- msg: navigator_mission_item
id: 138
id: 137
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150