mavlink streams: LORA mode for low bandwidth radio links (#24328)

* Add LORA radiolink Mavlink message rates

* Do not forward ONBOARD_COMPUTER_STATUS when using low bandwidth radio links

* Update src/modules/mavlink/mavlink_main.cpp

* Update src/modules/mavlink/mavlink_main.cpp

* Update src/modules/mavlink/mavlink_main.cpp

* Update src/modules/mavlink/mavlink_main.h

* Update src/modules/mavlink/mavlink_main.h

* Update src/modules/mavlink/module.yaml

* Update src/modules/mavlink/mavlink_main.h

---------

Co-authored-by: Sebastien <sebastien.courroux@auterion.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

src/modules/mavlink/mavlink_main.cpp

@@ -481,6 +481,10 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 		return;
 	}
 
+	if (self->get_mode() == MAVLINK_MODE_LOW_BANDWIDTH && msg->msgid == MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS) {
+		return;
+	}
+
 	LockGuard lg{mavlink_module_mutex};
 
 	for (Mavlink *inst : mavlink_module_instances) {
@@ -1800,6 +1804,53 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 #endif // !CONSTRAINED_FLASH
 		break;
 
+	case MAVLINK_MODE_LOW_BANDWIDTH:
+		// Note: streams requiring low latency come first
+		configure_stream_local("TIMESYNC", 10.0f);
+		configure_stream_local("CAMERA_TRIGGER", 2.0f);
+		configure_stream_local("LOCAL_POSITION_NED", 1.0f);
+		configure_stream_local("ATTITUDE", 1.0f);
+		configure_stream_local("ALTITUDE", 1.0f);
+		configure_stream_local("DISTANCE_SENSOR", 2.0f);
+		configure_stream_local("MOUNT_ORIENTATION", 2.0f);
+		configure_stream_local("OBSTACLE_DISTANCE", 2.0f);
+		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
+		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
+		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 2.0f);
+		configure_stream_local("ESC_INFO", 1.0f);
+		configure_stream_local("ESC_STATUS", 2.0f);
+
+		configure_stream_local("ADSB_VEHICLE", 2.0f);
+		configure_stream_local("ATTITUDE_TARGET", 0.5f);
+		configure_stream_local("AVAILABLE_MODES", 0.3f);
+		configure_stream_local("BATTERY_STATUS", 0.5f);
+		configure_stream_local("CAMERA_IMAGE_CAPTURED", 2.0f);
+		configure_stream_local("COLLISION", 2.0f);
+		configure_stream_local("CURRENT_MODE", 0.5f);
+		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
+		configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
+		configure_stream_local("GLOBAL_POSITION_INT", 1.0f);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
+		configure_stream_local("GPS2_RAW", 2.0f);
+		configure_stream_local("GPS_RAW_INT", 2.0f);
+		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
+		configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
+		configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
+		configure_stream_local("PING", 0.1f);
+		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.0f);
+		configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.0f);
+		configure_stream_local("RC_CHANNELS", 5.0f);
+		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
+		configure_stream_local("SYS_STATUS", 0.5f);
+		configure_stream_local("SYSTEM_TIME", 2.0f);
+		configure_stream_local("TIME_ESTIMATE_TO_TARGET", 0.5f);
+		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 2.0f);
+		configure_stream_local("VFR_HUD", 1.0f);
+		configure_stream_local("VIBRATION", 0.1f);
+		configure_stream_local("WIND_COV", 0.1f);
+		break;
+
 	case MAVLINK_MODE_UAVIONIX:
 		configure_stream_local("UAVIONIX_ADSB_OUT_CFG", 0.1f);
 		configure_stream_local("UAVIONIX_ADSB_OUT_DYNAMIC", 5.0f);

src/modules/mavlink/mavlink_main.h

@@ -212,6 +212,7 @@ public:
 		MAVLINK_MODE_GIMBAL,
 		MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH,
 		MAVLINK_MODE_UAVIONIX,
+		MAVLINK_MODE_LOW_BANDWIDTH,
 		MAVLINK_MODE_COUNT
 	};
 
@@ -266,6 +267,9 @@ public:
 		case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH:
 			return "OnboardLowBandwidth";
 
+		case MAVLINK_MODE_LOW_BANDWIDTH:
+			return "Low Bandwidth";
+
 		case MAVLINK_MODE_UAVIONIX:
 			return "uAvionix";
 

src/modules/mavlink/module.yaml

@@ -73,6 +73,7 @@ parameters:
                 10: Gimbal
                 11: Onboard Low Bandwidth
                 12: uAvionix
+                13: Low Bandwidth
             reboot_required: true
             num_instances: *max_num_config_instances
             default: [0, 2, 0]