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voxl2_io: Added UART passthru

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This commit is contained in:
Eric Katzfey
2025-03-04 13:52:52 -08:00
committed by Eric Katzfey
parent 5e54d727fc
commit eb43d21730
5 changed files with 42 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4
View File
@@ -1989,6 +1989,10 @@ MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
_esc_serial_passthru_pub.publish(tunnel);
break;
case MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_IO_UART_PASSTHRU:
_io_serial_passthru_pub.publish(tunnel);
break;
default:
_mavlink_tunnel_pub.publish(tunnel);
break;
src/modules/mavlink/mavlink_receiver.h
+1
View File
@@ -310,6 +310,7 @@ private:
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<mavlink_tunnel_s> _mavlink_tunnel_pub{ORB_ID(mavlink_tunnel)};
uORB::Publication<mavlink_tunnel_s> _esc_serial_passthru_pub{ORB_ID(esc_serial_passthru)};
uORB::Publication<mavlink_tunnel_s> _io_serial_passthru_pub{ORB_ID(io_serial_passthru)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};