From 91e3ec5884eb8d91a6cebd4e8aedb5bbe43ccb27 Mon Sep 17 00:00:00 2001
From: Kjersti Brynestad <kjers.br@gmail.com>
Date: Wed, 4 Jan 2023 14:25:56 +0100
Subject: [PATCH] mavlink: Handle NAMED_VALUE_INT

---
 src/modules/mavlink/mavlink_receiver.cpp | 20 ++++++++++++++++++++
 src/modules/mavlink/mavlink_receiver.h   |  1 +
 2 files changed, 21 insertions(+)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 4723dbc1be..6030d9b651 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -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)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 04aa8ca8ee..e5575b7efb 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -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);