PX4-Autopilot/mavlink_notes.md

Mavlink MAIN Loop

• Some nonsense at the top for iridium mode
• Calculate rate multiplier (look at impl)

These are kinda BS

• Configure SiK radio (move!!!)
• handleStatus() --> sets HIL mode or handles Iridium nonsense ... move!!!
• handleCommands() --> iridium nonsense and gimbal v1 ... remove!
• handleAndGetCurrentCommandAck() --> sends out ACKS, needs to be simplified
• handleMavlinkShellOutput() --> sends out mavlink shell output if enabled
• check_requested_subscriptions() --> configures streams that have been request, could be simplified

Not BS

• Iterate over all streams and send
• Send ulog data
• check and send events
• forward messages in message_buffer
• update stats and publish telemetry status
• BACK TO THE TOP