added FLIGHT_INFORMATION stream

src/modules/mavlink/streams/flight_information.h

@@ -0,0 +1,77 @@
+#ifndef MAVLINK_STREAM_FLIGHT_INFORMATION_H
+#define MAVLINK_STREAM_FLIGHT_INFORMATION_H
+
+#include "../mavlink_messages.h"
+
+#include <uORB/topics/actuator_armed.h>
+
+class MavlinkStreamFlightInformation : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamFlightInformation::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "FLIGHT_INFORMATION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_FLIGHT_INFORMATION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamFlightInformation(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_FLIGHT_INFORMATION_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:
+	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamFlightInformation(MavlinkStreamFlightInformation &) = delete;
+	MavlinkStreamFlightInformation &operator = (const MavlinkStreamFlightInformation &) = delete;
+protected:
+	explicit MavlinkStreamFlightInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		actuator_armed_s actuator_armed{};
+		bool ret = _armed_sub.copy(&actuator_armed);
+
+		if (ret && actuator_armed.timestamp != 0) {
+			const param_t param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
+			int32_t flight_uuid;
+			param_get(param_com_flight_uuid, &flight_uuid);
+
+			mavlink_flight_information_t flight_info{};
+			flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
+			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);
+		}
+
+		return ret;
+	}
+};
+
+#endif