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commander+mavlink: implement MAVLink standard modes

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This commit is contained in:
Beat Küng
2023-07-12 11:06:51 +02:00
parent b46e1d744b
commit bb900264e0
14 changed files with 593 additions and 42 deletions
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src/modules/mavlink/mavlink_main.cpp
+13 -2
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@@ -1189,8 +1189,9 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
return OK;
}
/* if we reach here, the stream list does not contain the stream */
#if defined(CONSTRAINED_FLASH) // flash constrained target's don't include all streams
// if we reach here, the stream list does not contain the stream.
// flash constrained target's don't include all streams, and some are only available for the development dialect
#if defined(CONSTRAINED_FLASH) || !defined(MAVLINK_DEVELOPMENT_H)
return PX4_OK;
#else
PX4_WARN("stream %s not found", stream_name);
@@ -1402,9 +1403,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ATTITUDE", 15.0f);
configure_stream_local("ATTITUDE_QUATERNION", 10.0f);
configure_stream_local("ATTITUDE_TARGET", 2.0f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("DISTANCE_SENSOR", 0.5f);
configure_stream_local("EFI_STATUS", 2.0f);
configure_stream_local("ESC_INFO", 1.0f);
@@ -1472,9 +1475,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ATTITUDE_QUATERNION", 50.0f);
configure_stream_local("ATTITUDE_TARGET", 10.0f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("EFI_STATUS", 2.0f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
@@ -1546,9 +1551,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ATTITUDE_TARGET", 2.0f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
@@ -1628,9 +1635,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ATTITUDE", 50.0f);
configure_stream_local("ATTITUDE_QUATERNION", 50.0f);
configure_stream_local("ATTITUDE_TARGET", 8.0f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("EFI_STATUS", 10.0f);
configure_stream_local("ESC_INFO", 10.0f);
configure_stream_local("ESC_STATUS", 10.0f);
@@ -1723,8 +1732,10 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ATTITUDE_TARGET", 2.0f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);