mavlink: handle cellular_status messages for logging

msg/CMakeLists.txt

@@ -41,6 +41,7 @@ set(msg_files
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg
+	cellular_status.msg
 	collision_report.msg
 	collision_constraints.msg
 	commander_state.msg

msg/cellular_status.msg

@@ -0,0 +1,9 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint16 status 	# Status bitmap 1: Roaming is active
+uint8 type 	# Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte
+uint8 quality	# Cellular network RSSI/RSRP in dBm, absolute value
+uint16 mcc	# Mobile country code. If unknown, set to: UINT16_MAX
+uint16 mnc	# Mobile network code. If unknown, set to: UINT16_MAX
+uint16 lac	# Location area code. If unknown, set to: 0
+uint32 cid	# Cell ID. If unknown, set to: UINT32_MAX

msg/tools/uorb_rtps_message_ids.yaml

@@ -262,6 +262,8 @@ rtps:
     id: 115
   - msg: onboard_computer_status
     id: 116
+  - msg: cellular_status
+    id: 117
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

src/modules/logger/logger.cpp

@@ -637,6 +637,7 @@ void Logger::add_sensor_comparison_topics()
 
 void Logger::add_vision_and_avoidance_topics()
 {
+	add_topic("cellular_status", 200);
 	add_topic("collision_constraints");
 	add_topic("obstacle_distance_fused");
 	add_topic("onboard_computer_status", 200);

src/modules/mavlink/mavlink_receiver.cpp

@@ -190,6 +190,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_landing_target(msg);
 		break;
 
+	case MAVLINK_MSG_ID_CELLULAR_STATUS:
+		handle_message_cellular_status(msg);
+		break;
+
 	case MAVLINK_MSG_ID_ADSB_VEHICLE:
 		handle_message_adsb_vehicle(msg);
 		break;
@@ -2194,6 +2198,26 @@ MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
 	}
 }
 
+void
+MavlinkReceiver::handle_message_cellular_status(mavlink_message_t *msg)
+{
+	mavlink_cellular_status_t status;
+	mavlink_msg_cellular_status_decode(msg, &status);
+
+	cellular_status_s cellular_status{};
+
+	cellular_status.timestamp = hrt_absolute_time();
+	cellular_status.status = status.status;
+	cellular_status.type = status.type;
+	cellular_status.quality = status.quality;
+	cellular_status.mcc = status.mcc;
+	cellular_status.mnc = status.mnc;
+	cellular_status.lac = status.lac;
+	cellular_status.cid = status.cid;
+
+	_cellular_status_pub.publish(cellular_status);
+}
+
 void
 MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 {

src/modules/mavlink/mavlink_receiver.h

@@ -57,6 +57,7 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
+#include <uORB/topics/cellular_status.h>
 #include <uORB/topics/collision_report.h>
 #include <uORB/topics/debug_array.h>
 #include <uORB/topics/debug_key_value.h>
@@ -131,6 +132,7 @@ private:
 	void handle_message_adsb_vehicle(mavlink_message_t *msg);
 	void handle_message_att_pos_mocap(mavlink_message_t *msg);
 	void handle_message_battery_status(mavlink_message_t *msg);
+	void handle_message_cellular_status(mavlink_message_t *msg);
 	void handle_message_collision(mavlink_message_t *msg);
 	void handle_message_command_ack(mavlink_message_t *msg);
 	void handle_message_command_int(mavlink_message_t *msg);
@@ -222,6 +224,7 @@ private:
 	uORB::Publication<actuator_controls_s>			_actuator_controls_pubs[4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)};
 	uORB::Publication<airspeed_s>				_airspeed_pub{ORB_ID(airspeed)};
 	uORB::Publication<battery_status_s>			_battery_pub{ORB_ID(battery_status)};
+	uORB::Publication<cellular_status_s>			_cellular_status_pub{ORB_ID(cellular_status)};
 	uORB::Publication<collision_report_s>			_collision_report_pub{ORB_ID(collision_report)};
 	uORB::Publication<debug_array_s>			_debug_array_pub{ORB_ID(debug_array)};
 	uORB::Publication<debug_key_value_s>			_debug_key_value_pub{ORB_ID(debug_key_value)};