From 9531262cfe33bc51e2b62cdae2cec229cf47da2b Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Mon, 4 Aug 2025 17:36:35 -0600 Subject: [PATCH] mavlink: new mode MAVLINK_MODE_DISTANCE_SENSOR --- src/modules/mavlink/mavlink_main.cpp | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 09d7a6ffe3..2018522fc3 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -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, "", "wifi/ethernet interface name", true); #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)