mavlink: send LINK_NODE_STATUS

msg/telemetry_status.msg

@@ -17,7 +17,7 @@ bool ftp
 
 uint8 streams
 
-uint32 data_rate                        # configured maximum data rate (Bytes/s)
+float32 data_rate                       # configured maximum data rate (Bytes/s)
 
 float32 rate_multiplier
 

src/modules/mavlink/mavlink_main.cpp

@@ -1608,6 +1608,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+		configure_stream_local("LINK_NODE_STATUS", 1.0f);
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1664,6 +1665,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 10.0f);
 		configure_stream_local("DEBUG_VECT", 10.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
+		configure_stream_local("LINK_NODE_STATUS", 1.0f);
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1715,6 +1717,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+		configure_stream_local("LINK_NODE_STATUS", 1.0f);
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1798,6 +1801,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
 		configure_stream_local("DEBUG_VECT", 50.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
+		configure_stream_local("LINK_NODE_STATUS", 1.0f);
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1817,6 +1821,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("RC_CHANNELS", 0.5f);
 		configure_stream_local("SYS_STATUS", 0.1f);
 		configure_stream_local("VFR_HUD", 1.0f);
+
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("LINK_NODE_STATUS", 1.0f);
+#endif // !CONSTRAINED_FLASH
+
 		break;
 
 	default:

src/modules/mavlink/mavlink_messages.cpp

@@ -137,6 +137,7 @@ using matrix::wrap_2pi;
 # include "streams/DEBUG_FLOAT_ARRAY.hpp"
 # include "streams/DEBUG_VECT.hpp"
 # include "streams/NAMED_VALUE_FLOAT.hpp"
+# include "streams/LINK_NODE_STATUS.hpp"
 #endif // !CONSTRAINED_FLASH
 
 // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
@@ -3144,6 +3145,9 @@ static const StreamListItem streams_list[] = {
 #if defined(GPS_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamGPSStatus>(),
 #endif // GPS_STATUS_HPP
+#if defined(LINK_NODE_STATUS_HPP)
+	create_stream_list_item<MavlinkStreamLinkNodeStatus>(),
+#endif // LINK_NODE_STATUS_HPP
 #if defined(STORAGE_INFORMATION_HPP)
 	create_stream_list_item<MavlinkStreamStorageInformation>(),
 #endif // STORAGE_INFORMATION_HPP

src/modules/mavlink/streams/LINK_NODE_STATUS.hpp

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef LINK_NODE_STATUS_HPP
+#define LINK_NODE_STATUS_HPP
+
+class MavlinkStreamLinkNodeStatus : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLinkNodeStatus(mavlink); }
+
+	static constexpr const char *get_name_static() { return "LINK_NODE_STATUS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LINK_NODE_STATUS; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_LINK_NODE_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	explicit MavlinkStreamLinkNodeStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	bool send() override
+	{
+		if (_mavlink->get_free_tx_buf() >= get_size()) {
+			mavlink_link_node_status_t link_node_status{};
+
+			const telemetry_status_s &tstatus = _mavlink->telemetry_status();
+			link_node_status.tx_buf = 0; // % TODO
+			link_node_status.rx_buf = 0; // % TODO
+			link_node_status.tx_rate = tstatus.tx_rate_avg;
+			link_node_status.rx_rate = tstatus.rx_rate_avg;
+			link_node_status.rx_parse_err = tstatus.rx_parse_errors;
+			link_node_status.tx_overflows = tstatus.tx_buffer_overruns;
+			link_node_status.rx_overflows = tstatus.rx_buffer_overruns;
+			link_node_status.messages_sent = tstatus.tx_message_count;
+			link_node_status.messages_received = tstatus.rx_message_count;
+			link_node_status.messages_lost = tstatus.rx_message_lost_count;
+
+			link_node_status.timestamp = hrt_absolute_time();
+
+			mavlink_msg_link_node_status_send_struct(_mavlink->get_channel(), &link_node_status);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // LINK_NODE_STATUS_HPP