The SERIAL_CONTROL MAVLink message now contains a target_system and
target_component field that we should check.
Without this we might be answering to a command on the network that is
meant for another system.
- no longer start sercon or mavlink usb by default
- on USB connection (VBUS) monitor serial USB at low rate and start Mavlink if there's a HEARTBEAT or nshterm on 3 consecutive carriage returns
- the mavlink USB instance is automatically stopped and serdis executed if USB is disconnected
- skipping Mavlink USB (and sercon) saves a considerable amount of memory on older boards
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This reverts the behavior for offboard velocity setpoint.
Back in v1.11, the velocity input in NED_BODY was assumed to be in the
world frame but rotated by yaw to the vehicle frame. With the current
state the frame is completely fixed to the body. While this might be
technically correct, it doesn't seem much intuitive for multicopters
and breaks the MAVSDK offboard velocity API.
So as an example, with a velocity setpoint of 5 m/s forward, the drone
would in
- v1.11: fly forward with 5 m/s
- v1.12: start to fly forward by pitching down but then descend rapidly
as the forward velocity would translate to a setpoint in Z into the
ground as it is pitched down.
This commit restores the behavior to what we had previously.
Forward message to other mavlink channels only if it is broadcast or the target component was seen on this link before (at least one message was received)
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
This adds support to handle INT32_MAX for COMMAND_INT.x/y by converting
it to NAN internally.
It also adds paranoid checks to prevent:
- NAN being used sent by a COMMAND_INT by mistake.
- INT32_MAX being used sent by a COMMAND_LONG by mistake.
The both results of ?: should be of same type, and some compilers give error
on this:
" implicit conversion from 'float' to 'double' to match other result of conditional"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Instead of only keeping track of the sequence ID of specific "supported"
components, we now keep track of any sysid/compid of an incoming
message. Before this change, unknown components (such as jMAVSim) would
completely screw up the mavlink message stats and create confusion (at
least in my case).
With this change we currently keep track of up to 8 other components.
Once we reach the limit, we will print a warning.
Without these fields the pre-arm check would complain and fail.
Also, the voltage is adjusted to be at around 70% rather than 30% which
would almost start to trigger warnings.
Julian Oes