Mavlink set telemetry_status type properly for Sik radios

- remove radio_status type since there's no type support in mavlink

msg/radio_status.msg

@@ -1,15 +1,6 @@
 
 uint64 timestamp	# time since system start (microseconds)
 
-uint8 RADIO_TYPE_GENERIC = 0
-uint8 RADIO_TYPE_3DR_RADIO = 1
-uint8 RADIO_TYPE_UBIQUITY_BULLET = 2
-uint8 RADIO_TYPE_WIRE = 3
-uint8 RADIO_TYPE_USB = 4
-uint8 RADIO_TYPE_IRIDIUM = 5
-
-uint8 type				# type of the radio hardware
-
 uint8 rssi				# local signal strength
 uint8 remote_rssi			# remote signal strength
 

src/modules/mavlink/mavlink_main.cpp

@@ -302,12 +302,9 @@ Mavlink::Mavlink() :
 		break;
 	}
 
-	_tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
-
 	// initialise parameter cache
 	mavlink_update_parameters();
 
-
 	// save the current system- and component ID because we don't allow them to change during operation
 	int sys_id = _param_system_id.get();
 
@@ -756,9 +753,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
 
 	} else {
 		_is_usb_uart = true;
+
 		/* USB has no baudrate, but use a magic number for 'fast' */
 		_baudrate = 2000000;
-		_tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB;
+
+		set_telemetry_status_type(telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB);
 	}
 
 #if defined(__PX4_LINUX) || defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
@@ -1612,30 +1611,23 @@ void
 Mavlink::update_radio_status(const radio_status_s &radio_status)
 {
 	_rstatus = radio_status;
+	set_telemetry_status_type(telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO);
 
 	/* check hardware limits */
-	if (radio_status.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
-
-		_radio_status_available = true;
-		_radio_status_critical = (radio_status.txbuf < RADIO_BUFFER_LOW_PERCENTAGE);
+	_radio_status_available = true;
+	_radio_status_critical = (radio_status.txbuf < RADIO_BUFFER_LOW_PERCENTAGE);
 
-		if (radio_status.txbuf < RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE) {
-			/* this indicates link congestion, reduce rate by 20% */
-			_radio_status_mult *= 0.80f;
+	if (radio_status.txbuf < RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE) {
+		/* this indicates link congestion, reduce rate by 20% */
+		_radio_status_mult *= 0.80f;
 
-		} else if (radio_status.txbuf < RADIO_BUFFER_LOW_PERCENTAGE) {
-			/* this indicates link congestion, reduce rate by 2.5% */
-			_radio_status_mult *= 0.975f;
+	} else if (radio_status.txbuf < RADIO_BUFFER_LOW_PERCENTAGE) {
+		/* this indicates link congestion, reduce rate by 2.5% */
+		_radio_status_mult *= 0.975f;
 
-		} else if (radio_status.txbuf > RADIO_BUFFER_HALF_PERCENTAGE) {
-			/* this indicates spare bandwidth, increase by 2.5% */
-			_radio_status_mult *= 1.025f;
-		}
-
-	} else {
-		_radio_status_available = false;
-		_radio_status_critical = false;
-		_radio_status_mult = 1.0f;
+	} else if (radio_status.txbuf > RADIO_BUFFER_HALF_PERCENTAGE) {
+		/* this indicates spare bandwidth, increase by 2.5% */
+		_radio_status_mult *= 1.025f;
 	}
 }
 
@@ -1968,7 +1960,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 			} else if (strcmp(myoptarg, "iridium") == 0) {
 				_mode = MAVLINK_MODE_IRIDIUM;
-				_tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
+				set_telemetry_status_type(telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM);
 
 			} else if (strcmp(myoptarg, "minimal") == 0) {
 				_mode = MAVLINK_MODE_MINIMAL;
@@ -2646,7 +2638,6 @@ Mavlink::start(int argc, char *argv[])
 void
 Mavlink::display_status()
 {
-
 	if (_tstatus.heartbeat_time > 0) {
 		printf("\tGCS heartbeat:\t%llu us ago\n", (unsigned long long)hrt_elapsed_time(&_tstatus.heartbeat_time));
 	}
@@ -2660,13 +2651,13 @@ Mavlink::display_status()
 		switch (_tstatus.type) {
 		case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
 			printf("3DR RADIO\n");
-			printf("\trssi:\t\t%d\n", _rstatus.rssi);
-			printf("\tremote rssi:\t%u\n", _rstatus.remote_rssi);
-			printf("\ttxbuf:\t\t%u\n", _rstatus.txbuf);
-			printf("\tnoise:\t\t%d\n", _rstatus.noise);
-			printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
-			printf("\trx errors:\t%u\n", _rstatus.rxerrors);
-			printf("\tfixed:\t\t%u\n", _rstatus.fixed);
+			printf("\t  rssi:\t\t%d\n", _rstatus.rssi);
+			printf("\t  remote rssi:\t%u\n", _rstatus.remote_rssi);
+			printf("\t  txbuf:\t%u\n", _rstatus.txbuf);
+			printf("\t  noise:\t%d\n", _rstatus.noise);
+			printf("\t  remote noise:\t%u\n", _rstatus.remote_noise);
+			printf("\t  rx errors:\t%u\n", _rstatus.rxerrors);
+			printf("\t  fixed:\t%u\n", _rstatus.fixed);
 			break;
 
 		case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB:

src/modules/mavlink/mavlink_main.h

@@ -237,7 +237,7 @@ public:
 
 	bool			get_forwarding_on() { return _forwarding_on; }
 
-	bool			is_connected() { return ((_tstatus.heartbeat_time > 0) && (hrt_absolute_time() - _tstatus.heartbeat_time < 3_s)); }
+	bool			is_connected() { return (hrt_elapsed_time(&_tstatus.heartbeat_time) < 3_s); }
 
 	bool			broadcast_enabled() { return _param_broadcast_mode.get() == BROADCAST_MODE_ON; }
 
@@ -423,6 +423,8 @@ public:
 	 */
 	telemetry_status_s	&get_telemetry_status() { return _tstatus; }
 
+	void				set_telemetry_status_type(uint8_t type) { _tstatus.type = type; }
+
 	void update_radio_status(const radio_status_s &radio_status);
 
 	ringbuffer::RingBuffer	*get_logbuffer() { return &_logbuffer; }

src/modules/mavlink/mavlink_receiver.cpp

@@ -1414,7 +1414,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 
 		radio_status_s status = {};
 		status.timestamp = hrt_absolute_time();
-		status.type = radio_status_s::RADIO_TYPE_3DR_RADIO;
 		status.rssi = rstatus.rssi;
 		status.remote_rssi = rstatus.remrssi;
 		status.txbuf = rstatus.txbuf;