MAVLink app: Introduce OSD mode

src/modules/mavlink/mavlink_main.cpp

@@ -1295,6 +1295,8 @@ Mavlink::task_main(int argc, char *argv[])
 				_mode = MAVLINK_MODE_ONBOARD;
 			} else if (strcmp(optarg, "onboard") == 0) {
 				_mode = MAVLINK_MODE_ONBOARD;
+			} else if (strcmp(optarg, "osd") == 0) {
+				_mode = MAVLINK_MODE_OSD;
 			}
 
 			break;
@@ -1451,7 +1453,6 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("ATTITUDE", 50.0f);
 		configure_stream("HIGHRES_IMU", 50.0f);
-		configure_stream("VFR_HUD", 5.0f);
 		configure_stream("GPS_RAW_INT", 5.0f);
 		configure_stream("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream("LOCAL_POSITION_NED", 30.0f);
@@ -1468,6 +1469,16 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
 		break;
 
+	case MAVLINK_MODE_OSD:
+		configure_stream("SYS_STATUS", 5.0f);
+		configure_stream("ATTITUDE", 30.0f);
+		configure_stream("GPS_RAW_INT", 1.0f);
+		configure_stream("GLOBAL_POSITION_INT", 10.0f);
+		configure_stream("ATTITUDE_TARGET", 10.0f);
+		configure_stream("BATTERY_STATUS", 1.0f);
+		configure_stream("SYSTEM_TIME", 1.0f);
+		break;
+
 	default:
 		break;
 	}

src/modules/mavlink/mavlink_main.h

@@ -128,7 +128,8 @@ public:
 	enum MAVLINK_MODE {
 		MAVLINK_MODE_NORMAL = 0,
 		MAVLINK_MODE_CUSTOM,
-		MAVLINK_MODE_ONBOARD
+		MAVLINK_MODE_ONBOARD,
+		MAVLINK_MODE_OSD
 	};
 
 	void			set_mode(enum MAVLINK_MODE);