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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
71bd35fcaa
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.
60 lines
2.2 KiB
Plaintext
60 lines
2.2 KiB
Plaintext
uint8 LINK_TYPE_GENERIC = 0
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uint8 LINK_TYPE_UBIQUITY_BULLET = 1
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uint8 LINK_TYPE_WIRE = 2
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uint8 LINK_TYPE_USB = 3
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uint8 LINK_TYPE_IRIDIUM = 4
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uint64 timestamp # time since system start (microseconds)
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uint8 type # type of the radio hardware (LINK_TYPE_*)
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uint8 mode
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bool flow_control
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bool forwarding
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bool mavlink_v2
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bool ftp
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uint8 streams
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float32 data_rate # configured maximum data rate (Bytes/s)
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float32 rate_multiplier
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float32 tx_rate_avg # transmit rate average (Bytes/s)
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float32 tx_error_rate_avg # transmit error rate average (Bytes/s)
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uint32 tx_message_count # total message sent count
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uint32 tx_buffer_overruns # number of TX buffer overruns
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float32 rx_rate_avg # transmit rate average (Bytes/s)
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uint32 rx_message_count # count of total messages received
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uint32 rx_message_lost_count
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uint32 rx_buffer_overruns # number of RX buffer overruns
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uint32 rx_parse_errors # number of parse errors
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uint32 rx_packet_drop_count # number of packet drops
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float32 rx_message_lost_rate
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uint64 HEARTBEAT_TIMEOUT_US = 1500000 # Heartbeat timeout 1.5 seconds
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# Heartbeats per type
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bool heartbeat_type_antenna_tracker # MAV_TYPE_ANTENNA_TRACKER
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bool heartbeat_type_gcs # MAV_TYPE_GCS
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bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
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bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
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bool heartbeat_type_adsb # MAV_TYPE_ADSB
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bool heartbeat_type_camera # MAV_TYPE_CAMERA
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# Heartbeats per component
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bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
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bool heartbeat_component_log # MAV_COMP_ID_LOG
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bool heartbeat_component_osd # MAV_COMP_ID_OSD
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bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
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bool heartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
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bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
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bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
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bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
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# Misc component health
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bool avoidance_system_healthy
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