mavutil: Return mode as 'Mode(msg.custom_mode)' for high-latency streams #779
Conversation
|
This also looks like we will no longer map the base mode to a string on ArduPilot. Could you put your two new lines just within the PX4 bloc there, please - just stop us reading those attributes within that block if the message is a Apologies for the breakage - we really should have picked this up. @stephendade FYI |
dernatsch
force-pushed
the
high-latency-mode-string
branch
from
5b81644 to
bdb30c1
Compare
|
@peterbarker Just changed it. Is this what you had in mind? :) |
dernatsch
force-pushed
the
high-latency-mode-string
branch
from
bdb30c1 to
c6318c9
Compare
|
FYI in ArduPilot, we do send the |
mavutil.py
Outdated
| @@ -2272,14 +2272,19 @@ def mode_mapping_bynumber(mav_type): | |||
|
|
|||
| def mode_string_v10(msg): | |||
| '''mode string for 1.0 protocol, from heartbeat''' | |||
| if msg.get_type() == "HIGH_LATENCY2": | |||
| return f"Mode({msg.custom_mode})" | |||
There was a problem hiding this comment.
Can't use fstrings - python2 :-(
Really looking forward to dropping Py2 - I like fstrings.
dernatsch
force-pushed
the
high-latency-mode-string
branch
from
c6318c9 to
0f20b0b
Compare
Before, when reading HIGH_LATENCY2 messages that came from a PX4 controller mavutil threw an exception because after the check for PX4, `msg.base_mode` was read immediately. It was not regarded that the `HIGH_LATENCY2` message does not contain a `base_mode` field. This introduces a fix where the mode string for HIGH_LATENCY2 messages from a PX4 controller is returned as `Mode(msg.custom_mode)`.
dernatsch
force-pushed
the
high-latency-mode-string
branch
from
0f20b0b to
c0b3528
Compare
|
@peterbarker No worries, changed it to the way it's done at the bottom of the function. Hope it's alright now. :) |
|
Merged, thanks @dernatsch |
Before, when reading high-latency messages that came from PX4, mavutil threw an exception because after the check for PX4,
msg.base_modewas read immediately. It was not regarded that theHIGH_LATENCY2message does not contain abase_modefield.This introduces a fix where the mode string for all
HIGH_LATENCY2messages is returned asMode(msg.custom_mode).