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Add mission checksum to group messages

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This commit is contained in:
Matej Frančeškin
2021-10-11 18:05:31 +02:00
parent 46ef517213
commit 150018abbb
2 changed files with 18 additions and 6 deletions
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src/modules/mavlink/mavlink_mission.cpp
+16 -4
View File
@@ -52,6 +52,7 @@
#include <matrix/math.hpp> #include <matrix/math.hpp>
#include <navigator/navigation.h> #include <navigator/navigation.h>
#include <uORB/topics/mission.h> #include <uORB/topics/mission.h>
#include <uORB/topics/mission_checksum.h>
#include <uORB/topics/mission_result.h> #include <uORB/topics/mission_result.h>
using matrix::wrap_2pi; using matrix::wrap_2pi;
@@ -475,12 +476,13 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
} }
void void
MavlinkMissionManager::send_group_start(uint32_t group_id, uint64_t timestamp) MavlinkMissionManager::send_group_start(uint32_t group_id, uint64_t timestamp, uint32_t mission_checksum)
{ {
mavlink_group_start_t group_start{}; mavlink_group_start_t group_start{};
group_start.group_id = group_id; group_start.group_id = group_id;
group_start.time_usec = timestamp; group_start.time_usec = timestamp;
group_start.mission_checksum = mission_checksum;
mavlink_msg_group_start_send_struct(_mavlink->get_channel(), &group_start); mavlink_msg_group_start_send_struct(_mavlink->get_channel(), &group_start);
@@ -488,12 +490,13 @@ MavlinkMissionManager::send_group_start(uint32_t group_id, uint64_t timestamp)
} }
void void
MavlinkMissionManager::send_group_end(uint32_t group_id, uint64_t timestamp) MavlinkMissionManager::send_group_end(uint32_t group_id, uint64_t timestamp, uint32_t mission_checksum)
{ {
mavlink_group_end_t group_end{}; mavlink_group_end_t group_end{};
group_end.group_id = group_id; group_end.group_id = group_id;
group_end.time_usec = timestamp; group_end.time_usec = timestamp;
group_end.mission_checksum = mission_checksum;
mavlink_msg_group_end_send_struct(_mavlink->get_channel(), &group_end); mavlink_msg_group_end_send_struct(_mavlink->get_channel(), &group_end);
@@ -541,12 +544,21 @@ MavlinkMissionManager::send()
} }
} }
uORB::Subscription csum_sub{ORB_ID(mission_checksum)};
mission_checksum_s csum{};
uint32_t checksum = 0;
if (csum_sub.advertised() && csum_sub.copy(&csum)) {
checksum = csum.all_checksum;
}
for (uint8_t i = 0; i < mission_result.groups_ended_num; i++) { for (uint8_t i = 0; i < mission_result.groups_ended_num; i++) {
send_group_end(mission_result.groups_ended[i], mission_result.timestamp); send_group_end(mission_result.groups_ended[i], mission_result.timestamp, checksum);
} }
for (uint8_t i = 0; i < mission_result.groups_started_num; i++) { for (uint8_t i = 0; i < mission_result.groups_started_num; i++) {
send_group_start(mission_result.groups_started[i], mission_result.timestamp); send_group_start(mission_result.groups_started[i], mission_result.timestamp, checksum);
} }
} else { } else {
src/modules/mavlink/mavlink_mission.h
+2 -2
View File
@@ -204,8 +204,8 @@ private:
*/ */
void send_mission_item_reached(uint16_t seq); void send_mission_item_reached(uint16_t seq);
void send_group_start(uint32_t group_id, uint64_t timestamp); void send_group_start(uint32_t group_id, uint64_t timestamp, uint32_t mission_checksum);
void send_group_end(uint32_t group_id, uint64_t timestamp); void send_group_end(uint32_t group_id, uint64_t timestamp, uint32_t mission_checksum);
void handle_mission_ack(const mavlink_message_t *msg); void handle_mission_ack(const mavlink_message_t *msg);