mavlink receiver fixes #17438
Merged
mavlink receiver fixes #17438
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
dagar
reviewed
Apr 21, 2021
dagar
reviewed
Apr 21, 2021
julianoes
force-pushed
the
pr-mavlink-fixes
branch
from
782dffb
to
cf449cf
Compare
Without these fields the pre-arm check would complain and fail. Also, the voltage is adjusted to be at around 70% rather than 30% which would almost start to trigger warnings.
Instead of only keeping track of the sequence ID of specific "supported" components, we now keep track of any sysid/compid of an incoming message. Before this change, unknown components (such as jMAVSim) would completely screw up the mavlink message stats and create confusion (at least in my case). With this change we currently keep track of up to 8 other components. Once we reach the limit, we will print a warning.
In my opinion this makes it much cleaner and will allow mavlink main to directly call the receiver.
This fixes the problem where jMAVSim changed the sequence number of MAVLink messages that it forwarded. With this change it keeps the sequence number as it receives the messages which prevents forwarded messages from QGC with wrong sequence numbers to be interpreted as messages lost.
This is more inline with SITL.
julianoes
force-pushed
the
pr-mavlink-fixes
branch
from
27f9672
to
a165f18
Compare
dagar
approved these changes
May 2, 2021
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This contains various cleanup in mavlink and mavlink receiver the most notable being a different handling of how to keep track of sequence numbers for various components.
Extraced out of #17404.