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mavlink_receiver: avoid spamming 'unsupported component id'

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Beat Küng 2021-03-31 10:51:32 +02:00 committed by Daniel Agar
parent 5f4802a239
commit aec63eacbe
2 changed files with 41 additions and 36 deletions
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40
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -73,6 +73,43 @@
using matrix::wrap_2pi;
const uint8_t MavlinkReceiver::supported_component_map[COMP_ID_MAX] = {
[COMP_ID_ALL] = MAV_COMP_ID_ALL,
[COMP_ID_AUTOPILOT1] = MAV_COMP_ID_AUTOPILOT1,
[COMP_ID_TELEMETRY_RADIO] = MAV_COMP_ID_TELEMETRY_RADIO,
[COMP_ID_CAMERA] = MAV_COMP_ID_CAMERA,
[COMP_ID_CAMERA2] = MAV_COMP_ID_CAMERA2,
[COMP_ID_GIMBAL] = MAV_COMP_ID_GIMBAL,
[COMP_ID_LOG] = MAV_COMP_ID_LOG,
[COMP_ID_ADSB] = MAV_COMP_ID_ADSB,
[COMP_ID_OSD] = MAV_COMP_ID_OSD,
[COMP_ID_PERIPHERAL] = MAV_COMP_ID_PERIPHERAL,
[COMP_ID_FLARM] = MAV_COMP_ID_FLARM,
[COMP_ID_GIMBAL2] = MAV_COMP_ID_GIMBAL2,
[COMP_ID_MISSIONPLANNER] = MAV_COMP_ID_MISSIONPLANNER,
[COMP_ID_ONBOARD_COMPUTER] = MAV_COMP_ID_ONBOARD_COMPUTER,
[COMP_ID_PATHPLANNER] = MAV_COMP_ID_PATHPLANNER,
[COMP_ID_OBSTACLE_AVOIDANCE] = MAV_COMP_ID_OBSTACLE_AVOIDANCE,
[COMP_ID_VISUAL_INERTIAL_ODOMETRY] = MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY,
[COMP_ID_PAIRING_MANAGER] = MAV_COMP_ID_PAIRING_MANAGER,
[COMP_ID_IMU] = MAV_COMP_ID_IMU,
[COMP_ID_GPS] = MAV_COMP_ID_GPS,
[COMP_ID_GPS2] = MAV_COMP_ID_GPS2,
[COMP_ID_UDP_BRIDGE] = MAV_COMP_ID_UDP_BRIDGE,
[COMP_ID_UART_BRIDGE] = MAV_COMP_ID_UART_BRIDGE,
[COMP_ID_TUNNEL_NODE] = MAV_COMP_ID_TUNNEL_NODE,
};
MavlinkReceiver::~MavlinkReceiver()
{
delete _tune_publisher;
@ -3058,8 +3095,9 @@ MavlinkReceiver::Run()
}
}
if (!px4_comp_id_found) {
if (!px4_comp_id_found && !_reported_unsupported_comp_id) {
PX4_WARN("unsupported component id, msgid: %d, sysid: %d compid: %d", msg.msgid, msg.sysid, msg.compid);
_reported_unsupported_comp_id = true;
}
if (px4_comp_id_found && px4_sysid_index_found) {

37
src/modules/mavlink/mavlink_receiver.h
View File

@ -294,42 +294,9 @@ private:
};
// map of supported component IDs to MAV_COMP value
const uint8_t supported_component_map[COMP_ID_MAX] {
[COMP_ID_ALL] = MAV_COMP_ID_ALL,
[COMP_ID_AUTOPILOT1] = MAV_COMP_ID_AUTOPILOT1,
static const uint8_t supported_component_map[COMP_ID_MAX];
[COMP_ID_TELEMETRY_RADIO] = MAV_COMP_ID_TELEMETRY_RADIO,
[COMP_ID_CAMERA] = MAV_COMP_ID_CAMERA,
[COMP_ID_CAMERA2] = MAV_COMP_ID_CAMERA2,
[COMP_ID_GIMBAL] = MAV_COMP_ID_GIMBAL,
[COMP_ID_LOG] = MAV_COMP_ID_LOG,
[COMP_ID_ADSB] = MAV_COMP_ID_ADSB,
[COMP_ID_OSD] = MAV_COMP_ID_OSD,
[COMP_ID_PERIPHERAL] = MAV_COMP_ID_PERIPHERAL,
[COMP_ID_FLARM] = MAV_COMP_ID_FLARM,
[COMP_ID_GIMBAL2] = MAV_COMP_ID_GIMBAL2,
[COMP_ID_MISSIONPLANNER] = MAV_COMP_ID_MISSIONPLANNER,
[COMP_ID_ONBOARD_COMPUTER] = MAV_COMP_ID_ONBOARD_COMPUTER,
[COMP_ID_PATHPLANNER] = MAV_COMP_ID_PATHPLANNER,
[COMP_ID_OBSTACLE_AVOIDANCE] = MAV_COMP_ID_OBSTACLE_AVOIDANCE,
[COMP_ID_VISUAL_INERTIAL_ODOMETRY] = MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY,
[COMP_ID_PAIRING_MANAGER] = MAV_COMP_ID_PAIRING_MANAGER,
[COMP_ID_IMU] = MAV_COMP_ID_IMU,
[COMP_ID_GPS] = MAV_COMP_ID_GPS,
[COMP_ID_GPS2] = MAV_COMP_ID_GPS2,
[COMP_ID_UDP_BRIDGE] = MAV_COMP_ID_UDP_BRIDGE,
[COMP_ID_UART_BRIDGE] = MAV_COMP_ID_UART_BRIDGE,
[COMP_ID_TUNNEL_NODE] = MAV_COMP_ID_TUNNEL_NODE,
};
bool _reported_unsupported_comp_id{false};
static constexpr int MAX_REMOTE_SYSTEM_IDS{8};
uint8_t _system_id_map[MAX_REMOTE_SYSTEM_IDS] {};