add mavlink mode external vision MAVLINK_MODE_EXTVISION

the mode can be used for VIO algorithms and obstacle avoidance to close the loop

src/modules/mavlink/mavlink_main.cpp

@@ -1784,6 +1784,27 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("WIND_COV", 10.0f);
 		break;
 
+	case MAVLINK_MODE_EXTVISION:
+		configure_stream_local("ALTITUDE", 10.0f); // for avoidance
+		configure_stream_local("ATTITUDE", 25.0f);
+		configure_stream_local("ATTITUDE_TARGET", 10.0f);
+		configure_stream_local("CAMERA_TRIGGER", unlimited_rate); // for VIO
+		configure_stream_local("DISTANCE_SENSOR", 10.0f);		// for avoidance
+		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
+		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
+		configure_stream_local("GPS_RAW_INT", 1.0f);
+		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HIGHRES_IMU", unlimited_rate);		// for VIO
+		configure_stream_local("LOCAL_POSITION_NED", 30.0f); //for VIO and avoidance
+		configure_stream_local("SYS_STATUS", 5.0f);
+		configure_stream_local("SYSTEM_TIME", 1.0f);
+		configure_stream_local("TIMESYNC", 10.0f);
+		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f); // for avoidance
+		configure_stream_local("VFR_HUD", 25.0f);
+		configure_stream_local("WIND_COV", 2.0f);
+		break;
+
 	case MAVLINK_MODE_OSD:
 		configure_stream_local("ALTITUDE", 1.0f);
 		configure_stream_local("ATTITUDE", 25.0f);
@@ -2068,6 +2089,9 @@ Mavlink::task_main(int argc, char *argv[])
 					} else if (strcmp(myoptarg, "minimal") == 0) {
 						_mode = MAVLINK_MODE_MINIMAL;
 
+					} else if (strcmp(myoptarg, "extvision") == 0) {
+						_mode = MAVLINK_MODE_EXTVISION;
+
 					} else {
 						PX4_ERR("invalid mode");
 						err_flag = true;
@@ -3049,7 +3073,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
 					"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
 #endif
-	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal",
+	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvsision",
 					"Mode: sets default streams and rates", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
 #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)

src/modules/mavlink/mavlink_main.h

@@ -181,6 +181,7 @@ public:
 		MAVLINK_MODE_CONFIG,
 		MAVLINK_MODE_IRIDIUM,
 		MAVLINK_MODE_MINIMAL,
+		MAVLINK_MODE_EXTVISION,
 
 		MAVLINK_MODE_COUNT
 	};
@@ -224,6 +225,9 @@ public:
 		case MAVLINK_MODE_MINIMAL:
 			return "Minimal";
 
+		case MAVLINK_MODE_EXTVISION:
+			return "ExtVision";
+
 		default:
 			return "Unknown";
 		}

src/modules/mavlink/module.yaml

@@ -39,6 +39,7 @@ parameters:
                 5: Config
                 #6: Iridium # as the user does not need to configure this, hide it from the UI
                 7: Minimal
+                8: External Vision
             reboot_required: true
             num_instances: *max_num_config_instances
             default: [0, 2, 0]