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mavlink_main: add support for autopilot_version.uid2

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This commit is contained in:
Beat Küng
2017-10-09 17:17:12 +02:00
parent daf05b3854
commit e2a32aab76
1 changed files with 8 additions and 0 deletions
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src/modules/mavlink/mavlink_main.cpp
+8
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@@ -1330,6 +1330,13 @@ void Mavlink::send_autopilot_capabilites()
board_get_uuid32(uid);
msg.uid = (((uint64_t)uid[PX4_CPU_UUID_WORD32_UNIQUE_M]) << 32) | uid[PX4_CPU_UUID_WORD32_UNIQUE_H];
#ifndef BOARD_HAS_NO_UUID
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
static_assert(sizeof(px4_guid_t) == sizeof(msg.uid2), "GUID byte length mismatch");
memcpy(&msg.uid2, &px4_guid, sizeof(msg.uid2));
#endif /* BOARD_HAS_NO_UUID */
#ifdef CONFIG_ARCH_BOARD_SITL
// To avoid that multiple SITL instances have the same UUID, we add the mavlink
// system ID. We subtract 1, so that the first UUID remains unchanged given the
@@ -1337,6 +1344,7 @@ void Mavlink::send_autopilot_capabilites()
//
// Note that the UUID show in `ver` will still be the same for all instances.
msg.uid += mavlink_system.sysid - 1;
msg.uid2[0] += mavlink_system.sysid - 1;
#endif
mavlink_msg_autopilot_version_send_struct(get_channel(), &msg);
}