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mavlink: new mode MAVLINK_MODE_DISTANCE_SENSOR

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alexklimaj 2025-08-04 17:36:35 -06:00 committed by Daniel Agar
parent bc60307163
commit 9531262cfe
1 changed files with 10 additions and 4 deletions
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14
src/modules/mavlink/mavlink_main.cpp
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@ -1858,6 +1858,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
case MAVLINK_MODE_DISTANCE_SENSOR:
configure_stream_local("DISTANCE_SENSOR", unlimited_rate);
#if !defined(CONSTRAINED_FLASH)
configure_stream_local("DEBUG", 1.0f);
configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
configure_stream_local("DEBUG_VECT", 1.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
default:
@ -2103,12 +2109,12 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "uavionix") == 0) {
_mode = MAVLINK_MODE_UAVIONIX;
} else if (strcmp(myoptarg, "distance_sensor") == 0) {
_mode = MAVLINK_MODE_DISTANCE_SENSOR;
} else if (strcmp(myoptarg, "low_bandwidth") == 0) {
_mode = MAVLINK_MODE_LOW_BANDWIDTH;
} else if (strcmp(myoptarg, "distance_sensor") == 0) {
_mode = MAVLINK_MODE_DISTANCE_SENSOR;
} else {
PX4_ERR("invalid mode");
err_flag = true;
@ -3408,7 +3414,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr, "Partner IP (broadcasting can be enabled via -p flag)", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal|uavionix",
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal|onboard_low_bandwidth|uavionix|low_bandwidth|distance_sensor",
"Mode: sets default streams and rates", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)