GCS_MAVLink: split SYS_STATUS and POWER_STATUS onto separate ap_messages

libraries/GCS_MAVLink/GCS.h

@@ -41,7 +41,8 @@ enum ap_message : uint8_t {
     MSG_HEARTBEAT,
     MSG_ATTITUDE,
     MSG_LOCATION,
-    MSG_EXTENDED_STATUS1,
+    MSG_SYS_STATUS,
+    MSG_POWER_STATUS,
     MSG_MEMINFO,
     MSG_NAV_CONTROLLER_OUTPUT,
     MSG_CURRENT_WAYPOINT,
@@ -407,6 +408,8 @@ protected:
     void send_hwstatus();
     void handle_data_packet(mavlink_message_t *msg);
 
+    virtual bool vehicle_initialised() const { return true; }
+
     // these two methods are called after current_loc is updated:
     virtual int32_t global_position_int_alt() const;
     virtual int32_t global_position_int_relative_alt() const;

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -194,6 +194,10 @@ void GCS_MAVLINK::send_meminfo(void)
 // report power supply status
 void GCS_MAVLINK::send_power_status(void)
 {
+    if (!vehicle_initialised()) {
+        // avoid unnecessary errors being reported to user
+        return;
+    }
     mavlink_msg_power_status_send(chan,
                                   hal.analogin->board_voltage() * 1000,
                                   hal.analogin->servorail_voltage() * 1000,
@@ -860,7 +864,8 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_HEARTBEAT,             MSG_HEARTBEAT},
         { MAVLINK_MSG_ID_ATTITUDE,              MSG_ATTITUDE},
         { MAVLINK_MSG_ID_GLOBAL_POSITION_INT,   MSG_LOCATION},
-        { MAVLINK_MSG_ID_SYS_STATUS,            MSG_EXTENDED_STATUS1},
+        { MAVLINK_MSG_ID_SYS_STATUS,            MSG_SYS_STATUS},
+        { MAVLINK_MSG_ID_POWER_STATUS,          MSG_POWER_STATUS},
         { MAVLINK_MSG_ID_MEMINFO,               MSG_MEMINFO},
         { MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, MSG_NAV_CONTROLLER_OUTPUT},
         { MAVLINK_MSG_ID_MISSION_CURRENT,       MSG_CURRENT_WAYPOINT},
@@ -3761,6 +3766,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_position_target_global_int();
         break;
 
+    case MSG_POWER_STATUS:
+        CHECK_PAYLOAD_SIZE(POWER_STATUS);
+        send_power_status();
+        break;
+
     case MSG_RADIO_IN:
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
         send_radio_in();