Rover: split SYS_STATUS and POWER_STATUS onto separate ap_messages

APMrover2/GCS_Mavlink.cpp

@@ -301,6 +301,11 @@ uint32_t GCS_MAVLINK_Rover::telem_delay() const
     return static_cast<uint32_t>(rover.g.telem_delay);
 }
 
+bool GCS_MAVLINK_Rover::vehicle_initialised() const
+{
+    return rover.control_mode != &rover.mode_initializing;
+}
+
 // try to send a message, return false if it won't fit in the serial tx buffer
 bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
 {
@@ -319,17 +324,14 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
 
     switch (id) {
 
-    case MSG_EXTENDED_STATUS1:
+    case MSG_SYS_STATUS:
         // send extended status only once vehicle has been initialised
         // to avoid unnecessary errors being reported to user
-        if (initialised) {
+        if (!vehicle_initialised()) {
-            if (PAYLOAD_SIZE(chan, SYS_STATUS) +
+            return true;
-                PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
-                return false;
         }
+        CHECK_PAYLOAD_SIZE(SYS_STATUS);
         rover.send_sys_status(chan);
-            send_power_status();
-        }
         break;
 
     case MSG_NAV_CONTROLLER_OUTPUT:
@@ -479,7 +481,8 @@ static const ap_message STREAM_RAW_SENSORS_msgs[] = {
     MSG_SENSOR_OFFSETS
 };
 static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
-    MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
+    MSG_SYS_STATUS,
+    MSG_POWER_STATUS,
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
     MSG_GPS_RAW,
@@ -1178,7 +1181,7 @@ void Rover::mavlink_delay_cb()
     if (tnow - last_1hz > 1000) {
         last_1hz = tnow;
         gcs().send_message(MSG_HEARTBEAT);
-        gcs().send_message(MSG_EXTENDED_STATUS1);
+        gcs().send_message(MSG_SYS_STATUS);
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;

APMrover2/GCS_Mavlink.h

@@ -30,6 +30,8 @@ protected:
 
     bool persist_streamrates() const override { return true; }
 
+    bool vehicle_initialised() const override;
+
 private:
 
     void handleMessage(mavlink_message_t * msg) override;