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mavlink: take in @dakejahl 's refactoring and extend it

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Jacob Dahl 2025-10-14 00:15:04 -08:00 committed by Matthias Grob
parent 65c5bd6906
commit d30fa62f40
3 changed files with 31 additions and 66 deletions
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6
src/modules/mavlink/mavlink_main.cpp
View File

@ -187,7 +187,7 @@ Mavlink::mavlink_update_parameters()
{
updateParams();
set_protocol_version(_param_mav_proto_ver.get());
setProtocolVersion(_param_mav_proto_ver.get());
if (_param_mav_type.get() < 0 || _param_mav_type.get() >= MAV_TYPE_ENUM_END) {
_param_mav_type.set(0);
@ -272,7 +272,7 @@ Mavlink::set_instance_id()
return false;
}
void Mavlink::set_protocol_version(unsigned version)
void Mavlink::setProtocolVersion(uint8_t version)
{
if (version == 1) {
get_status()->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
@ -3041,7 +3041,7 @@ Mavlink::display_status()
}
printf("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off");
printf("\tMAVLink version: %" PRId32 "\n", _protocol_version);
printf("\tMAVLink version: %" PRId8 "\n", _protocol_version);
printf("\ttransport protocol: ");

87
src/modules/mavlink/mavlink_main.h
View File

@ -109,22 +109,10 @@ class Mavlink final : public ModuleParams
{
public:
/**
* Constructor
*/
Mavlink();
/**
* Destructor, also kills the mavlinks task.
*/
~Mavlink();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
static int start(int argc, char *argv[]);
static int start(int argc, char *argv[]);
bool running() const { return _task_running.load(); }
bool should_exit() const { return _task_should_exit.load(); }
@ -134,63 +122,40 @@ public:
_receiver.request_stop();
}
/**
* Display the mavlink status.
*/
void display_status();
void display_status();
void display_status_streams();
/**
* Display the status of all enabled streams.
*/
void display_status_streams();
static int stop_command(int argc, char *argv[]);
static int stream_command(int argc, char *argv[]);
static int stop_command(int argc, char *argv[]);
static int stream_command(int argc, char *argv[]);
static int instance_count();
static Mavlink *new_instance();
static Mavlink *get_instance_for_device(const char *device_name);
static int instance_count();
mavlink_message_t *get_buffer() { return &_mavlink_buffer; }
mavlink_status_t *get_status() { return &_mavlink_status; }
static Mavlink *new_instance();
void setProtocolVersion(uint8_t version);
uint8_t getProtocolVersion() const { return _protocol_version; };
static Mavlink *get_instance_for_device(const char *device_name);
static int destroy_all_instances();
static int get_status_all_instances(bool show_streams_status);
static bool serial_instance_exists(const char *device_name, Mavlink *self);
mavlink_message_t *get_buffer() { return &_mavlink_buffer; }
static bool component_was_seen(int system_id, int component_id, Mavlink &self);
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
mavlink_status_t *get_status() { return &_mavlink_status; }
bool check_events() const { return _should_check_events.load(); }
void check_events_enable() { _should_check_events.store(true); }
void check_events_disable() { _should_check_events.store(false); }
void set_protocol_version(unsigned version);
bool sending_parameters() const { return _sending_parameters.load(); }
void set_sending_parameters(bool sending) { _sending_parameters.store(sending); }
static int destroy_all_instances();
int get_uart_fd() const { return _uart_fd; }
static int get_status_all_instances(bool show_streams_status);
static bool serial_instance_exists(const char *device_name, Mavlink *self);
static bool component_was_seen(int system_id, int component_id, Mavlink &self);
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
bool check_events() const { return _should_check_events.load(); }
void check_events_enable() { _should_check_events.store(true); }
void check_events_disable() { _should_check_events.store(false); }
bool sending_parameters() const { return _sending_parameters.load(); }
void set_sending_parameters(bool sending) { _sending_parameters.store(sending); }
int get_uart_fd() const { return _uart_fd; }
/**
* Get the MAVLink system id.
*
* @return The system ID of this vehicle
*/
int get_system_id() const { return mavlink_system.sysid; }
/**
* Get the MAVLink component id.
*
* @return The component ID of this vehicle
*/
int get_component_id() const { return mavlink_system.compid; }
int get_system_id() const { return mavlink_system.sysid; }
int get_component_id() const { return mavlink_system.compid; }
const char *_device_name{DEFAULT_DEVICE_NAME};
@ -613,7 +578,7 @@ private:
uint64_t _last_write_success_time{0};
uint64_t _last_write_try_time{0};
uint64_t _mavlink_start_time{0};
int32_t _protocol_version = 0; ///< after initialization the only values are 1 and 2
uint8_t _protocol_version = 0; ///< after initialization the only values are 1 and 2
unsigned _bytes_tx{0};
unsigned _bytes_txerr{0};

4
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -3230,9 +3230,9 @@ MavlinkReceiver::run()
// If we receive a complete MAVLink 2 packet, also switch the outgoing protocol version
if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)
&& (_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
&& _mavlink.getProtocolVersion() != 2) {
PX4_INFO("Upgrade to MAVLink v2 because of incoming packet");
_mavlink.set_protocol_version(2);
_mavlink.setProtocolVersion(2);
}
switch (_mavlink.get_mode()) {