fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 04:14:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: switch to events

Browse Source
This commit is contained in:
Beat Küng 2021-09-09 22:04:48 +02:00 committed by Daniel Agar
parent 90940c3672
commit b31276a4f5
4 changed files with 118 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/mavlink/mavlink_main.cpp
View File

@ -54,6 +54,8 @@
#include <lib/systemlib/mavlink_log.h>
#include <lib/version/version.h>
#include <px4_platform_common/events.h>
#include <uORB/topics/event.h>
#include "mavlink_receiver.h"
#include "mavlink_main.h"
@ -2321,11 +2323,15 @@ Mavlink::task_main(int argc, char *argv[])
!_transmitting_enabled_commanded && _first_heartbeat_sent) {
_transmitting_enabled = false;
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s", _device_name);
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_disable"), events::Log::Info,
"Disabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id);
} else if (!_transmitting_enabled && !vehicle_status.high_latency_data_link_lost) {
_transmitting_enabled = true;
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s", _device_name);
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_enable"), events::Log::Info,
"Enabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id);
}
}
}
@ -2348,8 +2354,10 @@ Mavlink::task_main(int argc, char *argv[])
if (vehicle_cmd.param1 > 0.5f) {
if (!_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command",
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s by command\t",
_device_name);
events::send<int8_t>(events::ID("mavlink_iridium_enable_cmd"), events::Log::Info,
"Enabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id);
}
_transmitting_enabled = true;
@ -2357,8 +2365,10 @@ Mavlink::task_main(int argc, char *argv[])
} else {
if (_transmitting_enabled) {
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command",
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s by command\t",
_device_name);
events::send<int8_t>(events::ID("mavlink_iridium_disable_cmd"), events::Log::Info,
"Disabling transmitting with IRIDIUM mavlink on instance {1} by command", _instance_id);
}
_transmitting_enabled = false;

101
src/modules/mavlink/mavlink_mission.cpp
View File

@ -47,6 +47,7 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/events.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <navigator/navigation.h>
@ -188,7 +189,9 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
PX4_ERR("WPM: can't save mission state");
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t");
events::send(events::ID("mavlink_mission_storage_write_failure"), events::Log::Critical,
"Mission: Unable to write to storage");
}
return PX4_ERROR;
@ -210,7 +213,9 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
} else {
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t");
events::send(events::ID("mavlink_mission_storage_write_failure2"), events::Log::Critical,
"Mission: Unable to write to storage");
}
return PX4_ERROR;
@ -235,7 +240,9 @@ MavlinkMissionManager::update_safepoint_count(unsigned count)
} else {
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD\t");
events::send(events::ID("mavlink_mission_storage_write_failure3"), events::Log::Critical,
"Mission: Unable to write to storage");
}
return PX4_ERROR;
@ -275,7 +282,9 @@ MavlinkMissionManager::send_mission_current(int32_t seq)
} else {
PX4_DEBUG("WPM: Send MISSION_CURRENT ERROR: seq %d out of bounds", seq);
_mavlink->send_statustext_critical("ERROR: wp index out of bounds");
_mavlink->send_statustext_critical("ERROR: wp index out of bounds\t");
events::send<int32_t, int32_t>(events::ID("mavlink_mission_wp_index_out_of_bounds"), events::Log::Error,
"Waypoint index out of bounds ({1} \\< {2})", seq, item_count);
}
}
@ -344,7 +353,9 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
break;
default:
_mavlink->send_statustext_critical("Received unknown mission type, abort.");
_mavlink->send_statustext_critical("Received unknown mission type, abort.\t");
events::send(events::ID("mavlink_mission_recv_unknown_mis_type"), events::Log::Error,
"Received unknown mission type, abort");
break;
}
@ -382,7 +393,9 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD");
_mavlink->send_statustext_critical("Mission storage: Unable to read from microSD\t");
events::send(events::ID("mavlink_mission_storage_read_failure"), events::Log::Error,
"Mission: Unable to read from storage");
}
PX4_DEBUG("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id);
@ -441,7 +454,9 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
}
} else {
_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity");
_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity\t");
events::send<uint16_t>(events::ID("mavlink_mission_wp_index_exceeds_list"), events::Log::Error,
"Waypoint index eceeds list capacity (maximum: {1})", current_max_item_count());
PX4_DEBUG("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq);
}
@ -522,7 +537,9 @@ MavlinkMissionManager::send()
} else if (_state != MAVLINK_WPM_STATE_IDLE && (_time_last_recv > 0)
&& hrt_elapsed_time(&_time_last_recv) > MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT) {
_mavlink->send_statustext_critical("Operation timeout");
_mavlink->send_statustext_critical("Operation timeout\t");
events::send(events::ID("mavlink_mission_op_timeout"), events::Log::Error,
"Operation timeout, aborting transfer");
PX4_DEBUG("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state);
@ -633,7 +650,9 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
}
} else {
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch\t");
events::send(events::ID("mavlink_mission_partner_id_mismatch"), events::Log::Error,
"Rejecting waypoint command, component or system ID mismatch");
PX4_DEBUG("WPM: MISSION_ACK ERR: ID mismatch");
}
@ -657,19 +676,25 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq);
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID\t");
events::send(events::ID("mavlink_mission_err_id"), events::Log::Error,
"Failed to write current mission ID to storage");
}
} else {
PX4_ERR("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq);
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list");
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list\t");
events::send(events::ID("mavlink_mission_seq_out_of_bounds"), events::Log::Error,
"New mission waypoint sequence out of bounds");
}
} else {
PX4_DEBUG("WPM: MISSION_SET_CURRENT ERROR: busy");
_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy");
_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy\t");
events::send(events::ID("mavlink_mission_state_busy"), events::Log::Error,
"Mission manager currently busy, ignoring new waypoint index");
}
}
}
@ -728,7 +753,9 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_REQUEST_LIST ERROR: busy");
_mavlink->send_statustext_info("Mission download request ignored, already active");
_mavlink->send_statustext_info("Mission download request ignored, already active\t");
events::send(events::ID("mavlink_mission_req_ignored"), events::Log::Warning,
"Mission download request ignored, already active");
}
}
}
@ -801,7 +828,9 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
events::send(events::ID("mavlink_mission_wp_unexpected"), events::Log::Error,
"Unexpected waypoint index, aborting transfer");
return;
}
@ -816,7 +845,9 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected\t");
events::send(events::ID("mavlink_mission_wp_unexpected2"), events::Log::Error,
"Unexpected waypoint index, aborting mission transfer");
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
@ -828,11 +859,15 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: busy (state %d).", _state);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t");
events::send(events::ID("mavlink_mission_mis_req_ignored_busy"), events::Log::Error,
"Ignoring mission request, currently busy");
}
} else {
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch\t");
events::send(events::ID("mavlink_mission_partner_id_mismatch2"), events::Log::Error,
"Rejecting mission request command, component or system ID mismatch");
PX4_DEBUG("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: rejected, partner ID mismatch");
}
@ -937,7 +972,9 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy\t");
events::send(events::ID("mavlink_mission_getlist_busy"), events::Log::Error,
"Mission upload busy, already receiving waypoint");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
return;
@ -946,7 +983,9 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_COUNT ERROR: busy, state %i", _state);
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy\t");
events::send(events::ID("mavlink_mission_ignore_mis_count"), events::Log::Error,
"Mission upload busy, ignoring MISSION_COUNT");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
return;
}
@ -1030,7 +1069,9 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer\t");
events::send(events::ID("mavlink_mission_no_transfer"), events::Log::Error,
"Ignoring mission item, no transfer in progress");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
@ -1039,7 +1080,9 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
} else {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: busy, state %i", _state);
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy\t");
events::send(events::ID("mavlink_mission_mis_item_busy"), events::Log::Error,
"Ignoring mission item, busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
return;
}
@ -1051,7 +1094,9 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
if (ret != PX4_OK) {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq);
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Invalid item");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Invalid item\t");
events::send(events::ID("mavlink_mission_mis_item_invalid"), events::Log::Error,
"Ignoring mission item, invalid item");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
switch_to_idle_state();
@ -1133,7 +1178,9 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
break;
default:
_mavlink->send_statustext_critical("Received unknown mission type, abort.");
_mavlink->send_statustext_critical("Received unknown mission type, abort.\t");
events::send(events::ID("mavlink_mission_unknown_mis_type"), events::Log::Error,
"Received unknown mission type, abort");
break;
}
@ -1143,7 +1190,9 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
if (write_failed) {
_mavlink->send_statustext_critical("Unable to write on micro SD");
_mavlink->send_statustext_critical("Unable to write on micro SD\t");
events::send(events::ID("mavlink_mission_storage_failure"), events::Log::Error,
"Mission: unable to write to storage");
}
switch_to_idle_state();
@ -1257,7 +1306,9 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
}
} else {
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy\t");
events::send(events::ID("mavlink_mission_ignore_clear"), events::Log::Error,
"Ignoring mission clear command, busy");
PX4_DEBUG("WPM: CLEAR_ALL IGNORED: busy");
}

20
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -120,15 +120,11 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
param_t param = param_find_no_notification(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown param: %s", name);
_mavlink->send_statustext_info(buf);
PX4_ERR("unknown param: %s", name);
} else if (!((param_type(param) == PARAM_TYPE_INT32 && set.param_type == MAV_PARAM_TYPE_INT32) ||
(param_type(param) == PARAM_TYPE_FLOAT && set.param_type == MAV_PARAM_TYPE_REAL32))) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] param types mismatch param: %s", name);
_mavlink->send_statustext_info(buf);
PX4_ERR("param types mismatch param: %s", name);
} else {
// According to the mavlink spec we should always acknowledge a write operation.
@ -204,14 +200,10 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
int ret = send_param(param_for_used_index(req_read.param_index));
if (ret == 1) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown param ID: %u", req_read.param_index);
_mavlink->send_statustext_info(buf);
PX4_ERR("unknown param ID: %i", req_read.param_index);
} else if (ret == 2) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] failed loading param from storage ID: %u", req_read.param_index);
_mavlink->send_statustext_info(buf);
PX4_ERR("failed loading param from storage ID: %i", req_read.param_index);
}
}
}
@ -248,7 +240,9 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
size_t i = map_rc.parameter_rc_channel_index;
if (i >= sizeof(_rc_param_map.param_index) / sizeof(_rc_param_map.param_index[0])) {
mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds");
mavlink_log_warning(_mavlink->get_mavlink_log_pub(), "parameter_rc_channel_index out of bounds\t");
events::send(events::ID("mavlink_param_rc_chan_out_of_bounds"), events::Log::Warning,
"parameter_rc_channel_index out of bounds");
break;
}

28
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -585,7 +585,9 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming");
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming\t");
events::send<uint32_t>(events::ID("mavlink_log_not_enough_bw"), events::Log::Error,
"Not enough bandwidth to enable log streaming ({1} \\< 5000)", _mavlink->get_data_rate());
} else {
// we already instanciate the streaming object, because at this point we know on which
@ -957,8 +959,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
setpoint.z = NAN;
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED coordinate frame %" PRIu8 " unsupported",
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED coordinate frame %" PRIu8 " unsupported\t",
target_local_ned.coordinate_frame);
events::send<uint8_t>(events::ID("mavlink_rcv_sp_target_unsup_coord"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: coordinate frame {1} unsupported", target_local_ned.coordinate_frame);
return;
}
@ -977,7 +981,9 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
|| PX4_ISFINITE(setpoint.acceleration[2]);
if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported");
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported\t");
events::send(events::ID("mavlink_rcv_sp_target_unsup_force"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: FORCE is not supported");
return;
}
@ -996,7 +1002,9 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
}
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED invalid");
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED invalid\t");
events::send(events::ID("mavlink_rcv_sp_target_invalid"), events::Log::Error,
"SET_POSITION_TARGET_LOCAL_NED: invalid, missing position, velocity or acceleration");
}
}
}
@ -1065,8 +1073,10 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
}
} else {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame %" PRIu8,
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame %" PRIu8 "\t",
target_global_int.coordinate_frame);
events::send<uint8_t>(events::ID("mavlink_rcv_sp_target_gl_invalid_coord"), events::Log::Error,
"SET_POSITION_TARGET_GLOBAL_INT invalid coordinate frame {1}", target_global_int.coordinate_frame);
return;
}
@ -1101,7 +1111,9 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
|| PX4_ISFINITE(setpoint.acceleration[2]);
if (ocm.acceleration && (type_mask & POSITION_TARGET_TYPEMASK_FORCE_SET)) {
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_LOCAL_NED force not supported");
mavlink_log_critical(&_mavlink_log_pub, "SET_POSITION_TARGET_GLOBAL_INT force not supported\t");
events::send(events::ID("mavlink_rcv_sp_target_gl_unsup_force"), events::Log::Error,
"SET_POSITION_TARGET_GLOBAL_INT: FORCE is not supported");
return;
}
@ -2399,8 +2411,10 @@ MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
} else if (landing_target.position_valid) {
// We only support MAV_FRAME_LOCAL_NED. In this case, the frame was unsupported.
mavlink_log_critical(&_mavlink_log_pub, "landing target: coordinate frame %" PRIu8 " unsupported",
mavlink_log_critical(&_mavlink_log_pub, "landing target: coordinate frame %" PRIu8 " unsupported\t",
landing_target.frame);
events::send<uint8_t>(events::ID("mavlink_rcv_lnd_target_unsup_coord"), events::Log::Error,
"landing target: unsupported coordinate frame {1}", landing_target.frame);
} else {
irlock_report_s irlock_report{};