vehicle_status.msg: delete unused mavlink stuff

The MAV_TYPE enum was not in sync with the mavlink specs anymore. It
makes therefore sense to remove the duplication and include the correct
mavlink header file where it is needed.
Also, error counts which are not populated, can be scrapped.

msg/vehicle_status.msg

@@ -51,42 +51,6 @@ uint8 NAVIGATION_STATE_AUTO_LAND = 18		# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow
 uint8 NAVIGATION_STATE_MAX = 20
 
-# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
-uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128
-uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
-uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32
-uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16
-uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8
-uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4
-uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2
-uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
-
-# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM
-uint8 VEHICLE_TYPE_GENERIC = 0		    # Generic micro air vehicle.
-uint8 VEHICLE_TYPE_FIXED_WING = 1	    # Fixed wing aircraft.
-uint8 VEHICLE_TYPE_QUADROTOR = 2	    # Quadrotor
-uint8 VEHICLE_TYPE_COAXIAL = 3		    # Coaxial helicopter
-uint8 VEHICLE_TYPE_HELICOPTER = 4	    # Normal helicopter with tail rotor.
-uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5	    # Ground installation
-uint8 VEHICLE_TYPE_GCS = 6		    # Operator control unit / ground control station
-uint8 VEHICLE_TYPE_AIRSHIP = 7		    # Airship, controlled
-uint8 VEHICLE_TYPE_FREE_BALLOON = 8	    # Free balloon, uncontrolled
-uint8 VEHICLE_TYPE_ROCKET = 9		    # Rocket
-uint8 VEHICLE_TYPE_GROUND_ROVER = 10	    # Ground rover
-uint8 VEHICLE_TYPE_SURFACE_BOAT = 11	    # Surface vessel, boat, ship
-uint8 VEHICLE_TYPE_SUBMARINE = 12	    # Submarine
-uint8 VEHICLE_TYPE_HEXAROTOR = 13	    # Hexarotor
-uint8 VEHICLE_TYPE_OCTOROTOR = 14	    # Octorotor
-uint8 VEHICLE_TYPE_TRICOPTER = 15	    # Octorotor
-uint8 VEHICLE_TYPE_FLAPPING_WING = 16	    # Flapping wing
-uint8 VEHICLE_TYPE_KITE = 17		    # Kite
-uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18    # Onboard companion controller
-uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19	    # Vtol with two engines
-uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20	    # Vtol with four engines
-uint8 VEHICLE_TYPE_VTOL_HEXAROTOR = 21 		# Vtol with six engines
-uint8 VEHICLE_TYPE_VTOL_OCTOROTOR = 22		# Vtol with eight engines
-uint8 VEHICLE_TYPE_ENUM_END = 23
-
 # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
 uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
@@ -115,9 +79,9 @@ uint8 hil_state				# current hil state
 bool failsafe				# true if system is in failsafe state
 bool calibration_enabled		# true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
 
-int32 system_type			# system type, inspired by MAVLink's VEHICLE_TYPE enum
-uint32 system_id			# system id, inspired by MAVLink's system ID field
-uint32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
+uint8 system_type			# system type, contains mavlink MAV_TYPE
+uint32 system_id			# system id, contains MAVLink's system ID field
+uint32 component_id			# subsystem / component id, contains MAVLink's component ID field
 
 bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
 bool is_vtol				# True if the system is VTOL capable
@@ -179,10 +143,4 @@ float32 battery_discharged_mah
 uint32 battery_cell_count
 
 uint8 battery_warning    # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum
-uint16 drop_rate_comm
-uint16 errors_comm
-uint16 errors_count1
-uint16 errors_count2
-uint16 errors_count3
-uint16 errors_count4
 

src/modules/commander/commander_helper.cpp

@@ -64,6 +64,7 @@
 
 #include "commander_helper.h"
 #include "DevMgr.hpp"
+#include "mavlink/v1.0/common/mavlink.h" // For MAV_TYPE
 
 using namespace DriverFramework;
 
@@ -77,23 +78,22 @@ static const int ERROR = -1;
 
 bool is_multirotor(const struct vehicle_status_s *current_status)
 {
-	return ((current_status->system_type == vehicle_status_s::VEHICLE_TYPE_QUADROTOR) ||
-		(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HEXAROTOR) ||
-		(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_OCTOROTOR) ||
-		(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_TRICOPTER));
+	return ((current_status->system_type == MAV_TYPE_QUADROTOR) ||
+		(current_status->system_type == MAV_TYPE_HEXAROTOR) ||
+		(current_status->system_type == MAV_TYPE_OCTOROTOR) ||
+		(current_status->system_type == MAV_TYPE_TRICOPTER));
 }
 
 bool is_rotary_wing(const struct vehicle_status_s *current_status)
 {
-	return is_multirotor(current_status) || (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HELICOPTER)
-	       || (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_COAXIAL);
+	return is_multirotor(current_status) || (current_status->system_type == MAV_TYPE_HELICOPTER)
+	       || (current_status->system_type == MAV_TYPE_COAXIAL);
 }
 
 bool is_vtol(const struct vehicle_status_s * current_status) {
-	return (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR ||
-		current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR ||
-		current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_HEXAROTOR ||
-		current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_OCTOROTOR);
+	return (current_status->system_type == MAV_TYPE_VTOL_DUOROTOR ||
+		current_status->system_type == MAV_TYPE_VTOL_QUADROTOR ||
+		current_status->system_type == MAV_TYPE_VTOL_TILTROTOR);
 }
 
 static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message

src/modules/mavlink/mavlink_messages.cpp

@@ -580,14 +580,15 @@ protected:
 			msg.load = status.load * 1000.0f;
 			msg.voltage_battery = status.battery_voltage * 1000.0f;
 			msg.current_battery = status.battery_current * 100.0f;
-			msg.drop_rate_comm = status.drop_rate_comm;
-			msg.errors_comm = status.errors_comm;
-			msg.errors_count1 = status.errors_count1;
-			msg.errors_count2 = status.errors_count2;
-			msg.errors_count3 = status.errors_count3;
-			msg.errors_count4 = status.errors_count4;
 			msg.battery_remaining = (status.condition_battery_voltage_valid) ?
 							status.battery_remaining * 100.0f : -1;
+			// TODO: fill in something useful in the fields below
+			msg.drop_rate_comm = 0;
+			msg.errors_comm = 0;
+			msg.errors_count1 = 0;
+			msg.errors_count2 = 0;
+			msg.errors_count3 = 0;
+			msg.errors_count4 = 0;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);