Add support for mavlink message DEBUG

msg/CMakeLists.txt

@@ -47,6 +47,7 @@ set(msg_file_names
 	control_state.msg
 	cpuload.msg
 	debug_key_value.msg
+	debug_value.msg
 	differential_pressure.msg
 	distance_sensor.msg
 	ekf2_innovations.msg

msg/debug_value.msg

@@ -0,0 +1,3 @@
+uint32 timestamp_ms		# in milliseconds since system start
+int8 ind			    # index of debug variable
+float32 value			# the value to send as debug output

src/modules/mavlink/mavlink_main.cpp

@@ -2045,6 +2045,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ATTITUDE_TARGET", 2.0f);
 		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f);
+		configure_stream("DEBUG", 1.0f);
 		configure_stream("VFR_HUD", 4.0f);
 		configure_stream("WIND_COV", 1.0f);
 		configure_stream("CAMERA_IMAGE_CAPTURED");
@@ -2073,6 +2074,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ATTITUDE_TARGET", 10.0f);
 		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("NAMED_VALUE_FLOAT", 10.0f);
+		configure_stream("DEBUG", 10.0f);
 		configure_stream("VFR_HUD", 10.0f);
 		configure_stream("WIND_COV", 10.0f);
 		configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
@@ -2132,6 +2134,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("ATTITUDE_TARGET", 8.0f);
 		configure_stream("HOME_POSITION", 0.5f);
 		configure_stream("NAMED_VALUE_FLOAT", 50.0f);
+		configure_stream("DEBUG", 50.0f);
 		configure_stream("VFR_HUD", 20.0f);
 		configure_stream("WIND_COV", 10.0f);
 		configure_stream("CAMERA_TRIGGER");

src/modules/mavlink/mavlink_messages.cpp

@@ -65,6 +65,7 @@
 #include <uORB/topics/camera_capture.h>
 #include <uORB/topics/cpuload.h>
 #include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/debug_value.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/estimator_status.h>
@@ -3171,6 +3172,69 @@ protected:
 	}
 };
 
+class MavlinkStreamDebug : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkStreamDebug::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "DEBUG";
+	}
+
+	static uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_DEBUG;
+	}
+
+	uint16_t get_id()
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamDebug(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return (_debug_time > 0) ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	MavlinkOrbSubscription *_debug_sub;
+	uint64_t _debug_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamDebug(MavlinkStreamDebug &);
+	MavlinkStreamDebug &operator = (const MavlinkStreamDebug &);
+
+protected:
+	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_debug_sub(_mavlink->add_orb_subscription(ORB_ID(debug_value))),
+		_debug_time(0)
+	{}
+
+	void send(const hrt_abstime t)
+	{
+		struct debug_value_s debug = {};
+
+		if (_debug_sub->update(&_debug_time, &debug)) {
+			mavlink_debug_t msg = {};
+
+			msg.time_boot_ms = debug.timestamp_ms;
+			msg.ind = debug.ind;
+			msg.value = debug.value;
+
+			mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
+		}
+	}
+};
+
 class MavlinkStreamNavControllerOutput : public MavlinkStream
 {
 public:
@@ -4168,6 +4232,7 @@ const StreamListItem *streams_list[] = {
 	new StreamListItem(&MavlinkStreamActuatorControlTarget<2>::new_instance, &MavlinkStreamActuatorControlTarget<2>::get_name_static, &MavlinkStreamActuatorControlTarget<2>::get_id_static),
 	new StreamListItem(&MavlinkStreamActuatorControlTarget<3>::new_instance, &MavlinkStreamActuatorControlTarget<3>::get_name_static, &MavlinkStreamActuatorControlTarget<3>::get_id_static),
 	new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static, &MavlinkStreamNamedValueFloat::get_id_static),
+	new StreamListItem(&MavlinkStreamDebug::new_instance, &MavlinkStreamDebug::get_name_static, &MavlinkStreamDebug::get_id_static),
 	new StreamListItem(&MavlinkStreamNavControllerOutput::new_instance, &MavlinkStreamNavControllerOutput::get_name_static, &MavlinkStreamNavControllerOutput::get_id_static),
 	new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static, &MavlinkStreamCameraCapture::get_id_static),
 	new StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static, &MavlinkStreamCameraTrigger::get_id_static),

src/modules/mavlink/mavlink_receiver.cpp

@@ -138,6 +138,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_collision_report_pub(nullptr),
 	_control_state_pub(nullptr),
 	_debug_key_value_pub(nullptr),
+	_debug_value_pub(nullptr),
 	_gps_inject_data_pub(nullptr),
 	_command_ack_pub(nullptr),
 	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
@@ -312,6 +313,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_named_value_float(msg);
 		break;
 
+	case MAVLINK_MSG_ID_DEBUG:
+		handle_message_debug(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -2384,6 +2389,26 @@ void MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
 	}
 }
 
+void MavlinkReceiver::handle_message_debug(mavlink_message_t *msg)
+{
+	mavlink_debug_t debug_msg;
+	debug_value_s debug_topic = {};
+
+	mavlink_msg_debug_decode(msg, &debug_msg);
+
+	debug_topic.timestamp = hrt_absolute_time();
+	debug_topic.timestamp_ms = debug_msg.time_boot_ms;
+	debug_topic.ind = debug_msg.ind;
+	debug_topic.value = debug_msg.value;
+
+	if (_debug_value_pub == nullptr) {
+		_debug_value_pub = orb_advertise(ORB_ID(debug_value), &debug_topic);
+
+	} else {
+		orb_publish(ORB_ID(debug_value), _debug_value_pub, &debug_topic);
+	}
+}
+
 /**
  * Receive data from UART.
  */

src/modules/mavlink/mavlink_receiver.h

@@ -67,6 +67,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/debug_value.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_force_setpoint.h>
@@ -152,6 +153,7 @@ private:
 	void handle_message_logging_ack(mavlink_message_t *msg);
 	void handle_message_play_tune(mavlink_message_t *msg);
 	void handle_message_named_value_float(mavlink_message_t *msg);
+	void handle_message_debug(mavlink_message_t *msg);
 
 	void *receive_thread(void *arg);
 
@@ -238,6 +240,7 @@ private:
 	orb_advert_t _collision_report_pub;
 	orb_advert_t _control_state_pub;
 	orb_advert_t _debug_key_value_pub;
+	orb_advert_t _debug_value_pub;
 	static const int _gps_inject_data_queue_size = 6;
 	orb_advert_t _gps_inject_data_pub;
 	orb_advert_t _command_ack_pub;