added FLIGHT_INFORMATION stream

src/modules/mavlink/mavlink_messages.cpp

@@ -46,6 +46,7 @@
 #include "mavlink_high_latency2.h"
 
 #include "streams/autopilot_version.h"
+#include "streams/flight_information.h"
 #include "streams/protocol_version.h"
 #include "streams/storage_information.h"
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -346,23 +346,6 @@ MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_c
 	return target_ok;
 }
 
-void
-MavlinkReceiver::send_flight_information()
-{
-	mavlink_flight_information_t flight_info{};
-	flight_info.flight_uuid = static_cast<uint64_t>(_param_com_flight_uuid.get());
-
-	actuator_armed_s actuator_armed{};
-	bool ret = _actuator_armed_sub.copy(&actuator_armed);
-
-	if (ret && actuator_armed.timestamp != 0) {
-		flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
-	}
-
-	flight_info.time_boot_ms = hrt_absolute_time() / 1000;
-	mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
-}
-
 void
 MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 {
@@ -446,9 +429,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 	} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
 		get_message_interval((int)roundf(cmd_mavlink.param1));
 
-	} else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
-		send_flight_information();
-
 	} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
 		uint16_t message_id = (uint16_t)roundf(cmd_mavlink.param1);
 		bool stream_found = false;

src/modules/mavlink/mavlink_receiver.h

@@ -204,9 +204,6 @@ private:
 
 	bool evaluate_target_ok(int command, int target_system, int target_component);
 
-	void send_flight_information();
-	void send_storage_information(int storage_id);
-
 	void fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust);
 
 	void schedule_tune(const char *tune);

src/modules/mavlink/streams/flight_information.h

@@ -0,0 +1,77 @@
+#ifndef MAVLINK_STREAM_FLIGHT_INFORMATION_H
+#define MAVLINK_STREAM_FLIGHT_INFORMATION_H
+
+#include "../mavlink_messages.h"
+
+#include <uORB/topics/actuator_armed.h>
+
+class MavlinkStreamFlightInformation : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamFlightInformation::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "FLIGHT_INFORMATION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_FLIGHT_INFORMATION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamFlightInformation(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_FLIGHT_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool request_message(float param1, float param2, float param3, float param4,
+			     float param5, float param6, float param7) override
+	{
+		return send(hrt_absolute_time());
+	}
+private:
+	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamFlightInformation(MavlinkStreamFlightInformation &) = delete;
+	MavlinkStreamFlightInformation &operator = (const MavlinkStreamFlightInformation &) = delete;
+protected:
+	explicit MavlinkStreamFlightInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send(const hrt_abstime t) override
+	{
+		actuator_armed_s actuator_armed{};
+		bool ret = _armed_sub.copy(&actuator_armed);
+
+		if (ret && actuator_armed.timestamp != 0) {
+			const param_t param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
+			int32_t flight_uuid;
+			param_get(param_com_flight_uuid, &flight_uuid);
+
+			mavlink_flight_information_t flight_info{};
+			flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
+			flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
+			flight_info.time_boot_ms = hrt_absolute_time() / 1000;
+			mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
+		}
+
+		return ret;
+	}
+};
+
+#endif