mavlink: take in @dakejahl 's refactoring and extend it

src/modules/mavlink/mavlink_main.cpp

@@ -187,7 +187,7 @@ Mavlink::mavlink_update_parameters()
 {
 	updateParams();
 
-	set_protocol_version(_param_mav_proto_ver.get());
+	setProtocolVersion(_param_mav_proto_ver.get());
 
 	if (_param_mav_type.get() < 0 || _param_mav_type.get() >= MAV_TYPE_ENUM_END) {
 		_param_mav_type.set(0);
@@ -272,7 +272,7 @@ Mavlink::set_instance_id()
 	return false;
 }
 
-void Mavlink::set_protocol_version(unsigned version)
+void Mavlink::setProtocolVersion(uint8_t version)
 {
 	if (version == 1) {
 		get_status()->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
@@ -3041,7 +3041,7 @@ Mavlink::display_status()
 	}
 
 	printf("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off");
-	printf("\tMAVLink version: %" PRId32 "\n", _protocol_version);
+	printf("\tMAVLink version: %" PRId8 "\n", _protocol_version);
 
 	printf("\ttransport protocol: ");
 

src/modules/mavlink/mavlink_main.h

@@ -109,22 +109,10 @@ class Mavlink final : public ModuleParams
 {
 
 public:
-	/**
-	 * Constructor
-	 */
 	Mavlink();
-
-	/**
-	 * Destructor, also kills the mavlinks task.
-	 */
 	~Mavlink();
 
-	/**
+	static int start(int argc, char *argv[]);
-	* Start the mavlink task.
-	 *
-	 * @return OK on success.
-	 */
-	static int		start(int argc, char *argv[]);
 
 	bool running() const { return _task_running.load(); }
 	bool should_exit() const { return _task_should_exit.load(); }
@@ -134,63 +122,40 @@ public:
 		_receiver.request_stop();
 	}
 
-	/**
+	void display_status();
-	 * Display the mavlink status.
+	void display_status_streams();
-	 */
-	void			display_status();
 
-	/**
+	static int stop_command(int argc, char *argv[]);
-	 * Display the status of all enabled streams.
+	static int stream_command(int argc, char *argv[]);
-	 */
-	void			display_status_streams();
 
-	static int		stop_command(int argc, char *argv[]);
+	static int instance_count();
-	static int		stream_command(int argc, char *argv[]);
+	static Mavlink *new_instance();
+	static Mavlink *get_instance_for_device(const char *device_name);
 
-	static int		instance_count();
+	mavlink_message_t *get_buffer() { return &_mavlink_buffer; }
+	mavlink_status_t *get_status() { return &_mavlink_status; }
 
-	static Mavlink		*new_instance();
+	void setProtocolVersion(uint8_t version);
+	uint8_t getProtocolVersion() const { return _protocol_version; };
 
-	static Mavlink 		*get_instance_for_device(const char *device_name);
+	static int destroy_all_instances();
+	static int get_status_all_instances(bool show_streams_status);
+	static bool serial_instance_exists(const char *device_name, Mavlink *self);
 
-	mavlink_message_t 	*get_buffer() { return &_mavlink_buffer; }
+	static bool component_was_seen(int system_id, int component_id, Mavlink &self);
+	static void forward_message(const mavlink_message_t *msg, Mavlink *self);
 
-	mavlink_status_t 	*get_status() { return &_mavlink_status; }
+	bool check_events() const { return _should_check_events.load(); }
+	void check_events_enable() { _should_check_events.store(true); }
+	void check_events_disable() { _should_check_events.store(false); }
 
-	void			set_protocol_version(unsigned version);
+	bool sending_parameters() const { return _sending_parameters.load(); }
+	void set_sending_parameters(bool sending) { _sending_parameters.store(sending); }
 
-	static int		destroy_all_instances();
+	int get_uart_fd() const { return _uart_fd; }
 
-	static int		get_status_all_instances(bool show_streams_status);
+	int get_system_id() const { return mavlink_system.sysid; }
-
+	int get_component_id() const { return mavlink_system.compid; }
-	static bool		serial_instance_exists(const char *device_name, Mavlink *self);
-
-	static bool		component_was_seen(int system_id, int component_id, Mavlink &self);
-
-	static void		forward_message(const mavlink_message_t *msg, Mavlink *self);
-
-	bool			check_events() const { return _should_check_events.load(); }
-	void			check_events_enable() { _should_check_events.store(true); }
-	void			check_events_disable() { _should_check_events.store(false); }
-
-	bool			sending_parameters() const { return _sending_parameters.load(); }
-	void			set_sending_parameters(bool sending) { _sending_parameters.store(sending); }
-
-	int			get_uart_fd() const { return _uart_fd; }
-
-	/**
-	 * Get the MAVLink system id.
-	 *
-	 * @return The system ID of this vehicle
-	 */
-	int			get_system_id() const { return mavlink_system.sysid; }
-
-	/**
-	 * Get the MAVLink component id.
-	 *
-	 * @return The component ID of this vehicle
-	 */
-	int			get_component_id() const { return mavlink_system.compid; }
 
 	const char *_device_name{DEFAULT_DEVICE_NAME};
 
@@ -613,7 +578,7 @@ private:
 	uint64_t		_last_write_success_time{0};
 	uint64_t		_last_write_try_time{0};
 	uint64_t		_mavlink_start_time{0};
-	int32_t _protocol_version = 0; ///< after initialization the only values are 1 and 2
+	uint8_t _protocol_version = 0; ///< after initialization the only values are 1 and 2
 
 	unsigned		_bytes_tx{0};
 	unsigned		_bytes_txerr{0};

src/modules/mavlink/mavlink_receiver.cpp

@@ -3230,9 +3230,9 @@ MavlinkReceiver::run()
 
 						// If we receive a complete MAVLink 2 packet, also switch the outgoing protocol version
 						if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)
-						    && (_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
+						    && _mavlink.getProtocolVersion() != 2) {
 							PX4_INFO("Upgrade to MAVLink v2 because of incoming packet");
-							_mavlink.set_protocol_version(2);
+							_mavlink.setProtocolVersion(2);
 						}
 
 						switch (_mavlink.get_mode()) {