if _ftp_on is true, message_buffer was created and read, but it was
actually never written to, so this is not needed. It can only ever be
written to if _forwarding_on is true.
This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.
This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
The previous approach was checking system id and component id but it
will not work in 100% of cases as external devices can send MAVLink
message with the right system id but with broadcast component id.
The message handling was not obeying action focused messages and high-rate messages properly before. With this change update rates track the desired rates closely. Critical high-rate messages such as ADS-B are queued additionally to guarantee that all received packets are being correctly forwarded.
This adds a class to allow for retransmission of outgoing commands.
The sent commands are kept in a timestamped list to check if they are
acked as required by the mavlink protocol.
If they are not acked within a timeout, they can be retransmitted.
This allows the ground control station or any other communication partner to query the supported versions. The key aspect is to send the response in MAVLink 2 framing to test the link with a MAVLink 2 framed message.
This speeds up parameter loading. Slow links like telemetry are unaffected,
since the mavlink loop runs only with ~100Hz.
Tested on various links, like:
- telemetry link
- pixracer WiFi
- pixracer USB
- SITL
NuttX had the CRTSCTS define incorrectly set for only output flow control, which broke our flow control logic. This commit patches NuttX and puts in addition a guard in place to prevent any future issue with the non-POSIX define being incorrect.
This has been debugged and identified by @ecmnet, which was the main contribution for this patch.
Lorenz Meier