added AUTOPILOT_VERSION and PROTOCOL_VERSION streams

src/modules/mavlink/streams/autopilot_version.h

@@ -0,0 +1,60 @@
+#ifndef MAVLINK_STREAM_AUTOPILOT_VERSION_H
+#define MAVLINK_STREAM_AUTOPILOT_VERSION_H
+
+#include "../mavlink_messages.h"
+
+class MavlinkStreamAutopilotVersion : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamAutopilotVersion::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "AUTOPILOT_VERSION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_AUTOPILOT_VERSION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamAutopilotVersion(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool request_message(float param1, float param2, float param3, float param4,
+			     float param5, float param6, float param7) override
+	{
+		return send(hrt_absolute_time());
+	}
+private:
+	/* do not allow top copying this class */
+	MavlinkStreamAutopilotVersion(MavlinkStreamAutopilotVersion &) = delete;
+	MavlinkStreamAutopilotVersion &operator = (const MavlinkStreamAutopilotVersion &) = delete;
+
+
+protected:
+	explicit MavlinkStreamAutopilotVersion(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		return _mavlink->send_autopilot_capabilities();
+	}
+};
+
+#endif

src/modules/mavlink/streams/protocol_version.h

@@ -0,0 +1,62 @@
+#ifndef MAVLINK_STREAM_PROTOCOL_VERSION_H
+#define MAVLINK_STREAM_PROTOCOL_VERSION_H
+
+#include "../mavlink_messages.h"
+
+class MavlinkStreamProtocolVersion : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamProtocolVersion::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "PROTOCOL_VERSION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_PROTOCOL_VERSION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamProtocolVersion(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool request_message(float param1, float param2, float param3, float param4,
+			     float param5, float param6, float param7) override
+	{
+		return send(hrt_absolute_time());
+	}
+private:
+	/* do not allow top copying this class */
+	MavlinkStreamProtocolVersion(MavlinkStreamProtocolVersion &) = delete;
+	MavlinkStreamProtocolVersion &operator = (const MavlinkStreamProtocolVersion &) = delete;
+
+
+protected:
+	explicit MavlinkStreamProtocolVersion(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		_mavlink->send_protocol_version();
+		return true;
+	}
+};
+
+#endif
+

src/modules/mavlink/streams/storage_information.h

@@ -10,6 +10,8 @@
 #include <sys/statfs.h>
 #endif
 
+#include <math.h>
+
 class MavlinkStreamStorageInformation : public MavlinkStream
 {
 public: