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mavlink: Handle NAMED_VALUE_INT

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Kjersti Brynestad 2023-01-04 14:25:56 +01:00 committed by Daniel Agar
parent 942b6700a1
commit 91e3ec5884
2 changed files with 21 additions and 0 deletions
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20
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -290,6 +290,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_named_value_float(msg);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
handle_message_named_value_int(msg);
break;
case MAVLINK_MSG_ID_DEBUG:
handle_message_debug(msg);
break;
@ -2811,6 +2815,22 @@ MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
_debug_key_value_pub.publish(debug_topic);
}
void
MavlinkReceiver::handle_message_named_value_int(mavlink_message_t *msg)
{
mavlink_named_value_int_t debug_msg;
mavlink_msg_named_value_int_decode(msg, &debug_msg);
debug_key_value_s debug_topic{};
debug_topic.timestamp = hrt_absolute_time();
memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key));
debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination
debug_topic.value = debug_msg.value;
_debug_key_value_pub.publish(debug_topic);
}
void
MavlinkReceiver::handle_message_debug(mavlink_message_t *msg)
{

1
src/modules/mavlink/mavlink_receiver.h
View File

@ -177,6 +177,7 @@ private:
void handle_message_landing_target(mavlink_message_t *msg);
void handle_message_logging_ack(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_named_value_int(mavlink_message_t *msg);
void handle_message_obstacle_distance(mavlink_message_t *msg);
void handle_message_odometry(mavlink_message_t *msg);
void handle_message_onboard_computer_status(mavlink_message_t *msg);