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added FLIGHT_INFORMATION stream

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This commit is contained in:
David Jablonski
2020-06-03 17:57:12 +02:00
committed by Julian Oes
parent e1f4a70c0e
commit edbe7e3ef0
4 changed files with 78 additions and 23 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-20
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@@ -346,23 +346,6 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
return target_ok;
}
void
MavlinkReceiver::send_flight_information()
{
mavlink_flight_information_t flight_info{};
flight_info.flight_uuid = static_cast<uint64_t>(_param_com_flight_uuid.get());
actuator_armed_s actuator_armed{};
bool ret = _actuator_armed_sub.copy(&actuator_armed);
if (ret && actuator_armed.timestamp != 0) {
flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
}
flight_info.time_boot_ms = hrt_absolute_time() / 1000;
mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
}
void
MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
{
@@ -446,9 +429,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)roundf(cmd_mavlink.param1));
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
send_flight_information();
} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
uint16_t message_id = (uint16_t)roundf(cmd_mavlink.param1);
bool stream_found = false;