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ardupilot/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp
T
Andrew Tridgell 689868534b GCS_MAVLink: support unicast links, camera replies and device selectors 
Add MAVn_OPTIONS bit 4 for exact learned-route forwarding without
broadcast traffic or default telemetry streams. Retain heartbeats and
explicit message requests, and suppress unsolicited global broadcasts
such as home and origin updates on those links.

Process broadcasts arriving on private and unicast links locally
without forwarding them, so the associated camera backend can relay
targetless PARAM_EXT_VALUE/ACK replies to normal links while other
isolated destinations stay protected. Dispatch camera capture status,
video stream information, camera telemetry and heartbeats to AP_Camera
so that backend can relay selected broadcasts while unrelated devices
remain isolated.

Route DO_SET_ROI_LOCATION and DO_SET_ROI_NONE with a nonzero gimbal
selector to the selected mount only; selector zero or NaN keeps the
vehicle behaviour. Legacy DO_SET_ROI keeps param1 as the ROI mode.

Report the FC-owned camera slot in COMMAND_ACK result_param2 for accepted
commands, and reject fractional or out-of-range CAMERA_TRACK_RECTANGLE
selectors before the COMMAND_LONG conversion truncates them to an integer.
2026-09-23 08:59:12 +10:00

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#include "GCS_config.h"
#if HAL_GCS_ENABLED
#include <AP_Param/AP_Param.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "GCS.h"
#include <AP_Airspeed/AP_Airspeed_config.h>
#include <AP_AIS/AP_AIS_config.h>
#include <AP_BattMonitor/AP_BattMonitor_config.h>
#include <AP_Compass/AP_Compass_config.h>
#include <AP_GPS/AP_GPS_config.h>
#include <AP_Landing/AP_Landing_config.h>
#include <AP_Mount/AP_Mount_config.h>
#include <AP_OpticalFlow/AP_OpticalFlow_config.h>
#include <AP_RangeFinder/AP_RangeFinder_config.h>
#include <AP_RPM/AP_RPM_config.h>
#include <AP_Terrain/AP_Terrain_config.h>
#include <RC_Channel/RC_Channel_config.h>
const struct AP_Param::GroupInfo *GCS::_chan_var_info[MAVLINK_COMM_NUM_BUFFERS];
// tradition has different vehicles use different default stream rates. This may not be the case forever, but for now we maintain this behaviour:
#ifndef AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS 2
#define AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT 2
#define AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN 2
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL 0
#define AP_MAV_DEFAULT_STREAM_RATE_POSITION 3
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA1 10
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA2 10
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA3 3
#define AP_MAV_DEFAULT_STREAM_RATE_PARAMS 0
#define AP_MAV_DEFAULT_STREAM_RATE_ADSB 0
#elif APM_BUILD_TYPE(APM_BUILD_AntennaTracker) || APM_BUILD_TYPE(APM_BUILD_Rover)
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT 1
#define AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN 1
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL 1
#define AP_MAV_DEFAULT_STREAM_RATE_POSITION 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA1 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA2 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA3 1
#define AP_MAV_DEFAULT_STREAM_RATE_PARAMS 10
#define AP_MAV_DEFAULT_STREAM_RATE_ADSB 0
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT 1
#define AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN 1
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL 1
#define AP_MAV_DEFAULT_STREAM_RATE_POSITION 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA1 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA2 1
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA3 1
#define AP_MAV_DEFAULT_STREAM_RATE_PARAMS 10
#define AP_MAV_DEFAULT_STREAM_RATE_ADSB 5
#elif APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_Blimp) || APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_AP_Periph)
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT 0
#define AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN 0
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL 0
#define AP_MAV_DEFAULT_STREAM_RATE_POSITION 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA1 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA2 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA3 0
#define AP_MAV_DEFAULT_STREAM_RATE_PARAMS 0
#define AP_MAV_DEFAULT_STREAM_RATE_ADSB 0
#elif APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT 0
#define AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN 0
#define AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL 0
#define AP_MAV_DEFAULT_STREAM_RATE_POSITION 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA1 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA2 0
#define AP_MAV_DEFAULT_STREAM_RATE_EXTRA3 0
#define AP_MAV_DEFAULT_STREAM_RATE_PARAMS 0
#define AP_MAV_DEFAULT_STREAM_RATE_ADSB 0
#else
#error Need to set streamrates
#endif // APM_BUILD_TYPE
#endif // AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS
// this must be ordered identically to GCS_MAVLINK::streams!
static const uint8_t default_rates[] {
AP_MAV_DEFAULT_STREAM_RATE_RAW_SENS,
AP_MAV_DEFAULT_STREAM_RATE_EXT_STAT,
AP_MAV_DEFAULT_STREAM_RATE_RC_CHAN,
AP_MAV_DEFAULT_STREAM_RATE_RAW_CTRL,
AP_MAV_DEFAULT_STREAM_RATE_POSITION,
AP_MAV_DEFAULT_STREAM_RATE_EXTRA1,
AP_MAV_DEFAULT_STREAM_RATE_EXTRA2,
AP_MAV_DEFAULT_STREAM_RATE_EXTRA3,
AP_MAV_DEFAULT_STREAM_RATE_PARAMS,
AP_MAV_DEFAULT_STREAM_RATE_ADSB,
};
static_assert(ARRAY_SIZE(default_rates) == GCS_MAVLINK::NUM_STREAMS, "enough default rates for all streams");
#define DRATE(x) (float(default_rates[x]))
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: _RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_RAW_SENS", 1, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_RAW_SENSORS], DRATE(GCS_MAVLINK::STREAM_RAW_SENSORS)),
// @Param: _EXT_STAT
// @DisplayName: Extended status stream rate
// @Description: MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_EXT_STAT", 2, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_EXTENDED_STATUS], DRATE(GCS_MAVLINK::STREAM_EXTENDED_STATUS)),
// @Param: _RC_CHAN
// @DisplayName: RC Channel stream rate
// @Description: MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_RC_CHAN", 3, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_RC_CHANNELS], DRATE(2)),
// @Param: _RAW_CTRL
// @DisplayName: Raw Control stream rate
// @Description: MAVLink Raw Control stream rate of SERVO_OUT
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_RAW_CTRL", 4, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_RAW_CONTROLLER], DRATE(GCS_MAVLINK::STREAM_RAW_CONTROLLER)),
// @Param: _POSITION
// @DisplayName: Position stream rate
// @Description: MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_POSITION", 5, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_POSITION], DRATE(GCS_MAVLINK::STREAM_POSITION)),
// @Param: _EXTRA1
// @DisplayName: Extra data type 1 stream rate
// @Description: MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_EXTRA1", 6, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_EXTRA1], DRATE(GCS_MAVLINK::STREAM_EXTRA1)),
// @Param: _EXTRA2
// @DisplayName: Extra data type 2 stream rate
// @Description: MAVLink Stream rate of VFR_HUD
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_EXTRA2", 7, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_EXTRA2], DRATE(GCS_MAVLINK::STREAM_EXTRA2)),
// @Param: _EXTRA3
// @DisplayName: Extra data type 3 stream rate
// @Description: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_EXTRA3", 8, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_EXTRA3], DRATE(GCS_MAVLINK::STREAM_EXTRA3)),
// @Param: _PARAMS
// @DisplayName: Parameter stream rate
// @Description: MAVLink Stream rate of PARAM_VALUE
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_PARAMS", 9, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_PARAMS], DRATE(GCS_MAVLINK::STREAM_PARAMS)),
// @Param: _ADSB
// @DisplayName: ADSB stream rate
// @Description: MAVLink ADSB stream rate
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("_ADSB", 10, GCS_MAVLINK, streamRates[GCS_MAVLINK::STREAM_ADSB], DRATE(GCS_MAVLINK::STREAM_ADSB)),
// ------------
// IMPORTANT: Add new stream rates *before* the _OPTIONS parameter.
// ------------
// @Param: _OPTIONS
// @DisplayName: Bitmask for configuring this telemetry channel
// @Description: Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action. Unicast blocks forwarding of broadcasts to/from this link, but allows packets addressed to a learned system/component pair. A missing or zero target system or component is a broadcast. Unicast sends heartbeat but does not start the normal telemetry streams; devices can request messages with MAV_CMD_SET_MESSAGE_INTERVAL or MAV_CMD_REQUEST_MESSAGE. Local processing is unaffected.
// @RebootRequired: True
// @User: Standard
// @Bitmask: 0:Accept unsigned MAVLink2 messages, 1:Don't forward mavlink to/from, 2:Ignore Streamrate, 3:forward mavlink packets that don't pass CRC, 4:Unicast
AP_GROUPINFO("_OPTIONS", 20, GCS_MAVLINK, options, 0),
// PARAMETER_CONVERSION - Added: May-2025 for ArduPilot-4.7
// Hidden param used as a flag for param conversion
// This allows one time conversion while allowing user to flash between versions with and without converted params
AP_GROUPINFO_FLAGS("_OPTIONSCNV", 21, GCS_MAVLINK, options_were_converted, 0, AP_PARAM_FLAG_HIDDEN),
// @Param: _DEVID
// @DisplayName: DeviceID
// @Description: ID of device using this MAVLink channel
// @ReadOnly: True
// @Values: 0:Unknown
// @Values: 65542:SERIAL0 (USB on ChibiOS)
// @Values: 65798:SERIAL1
// @Values: 66054:SERIAL2
// @Values: 66310:SERIAL3
// @Values: 66566:SERIAL4
// @Values: 66822:SERIAL5
// @Values: 67078:SERIAL6
// @Values: 67334:SERIAL7
// @Values: 67590:SERIAL8
// @Values: 67846:SERIAL9
// @Values: 131078:NET_P1
// @Values: 131334:NET_P2
// @Values: 131590:NET_P3
// @Values: 131846:NET_P4
// @Values: 196614:CAN_D1_UC_S1
// @Values: 196870:CAN_D1_UC_S2
// @Values: 197126:CAN_D1_UC_S3
// @Values: 196622:CAN_D2_UC_S1
// @Values: 196878:CAN_D2_UC_S2
// @Values: 197134:CAN_D2_UC_S3
// @Values: 262150:SCR_SDEV1
// @Values: 262406:SCR_SDEV2
// @Values: 262662:SCR_SDEV3
// @User: Advanced
AP_GROUPINFO_FLAGS("_DEVID", 22, GCS_MAVLINK, devid, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
AP_GROUPEND
};
#undef DRATE
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU,
MSG_SCALED_IMU2,
MSG_SCALED_IMU3,
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
#if AP_AIRSPEED_ENABLED
MSG_AIRSPEED,
#endif
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
MSG_POWER_STATUS,
#if HAL_WITH_MCU_MONITORING
MSG_MCU_STATUS,
#endif
MSG_MEMINFO,
#if !APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
MSG_CURRENT_WAYPOINT,
#endif
#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
MSG_GPS_RAW,
#endif
#if AP_GPS_GPS_RTK_SENDING_ENABLED
MSG_GPS_RTK,
#endif
#if AP_GPS_GPS2_RAW_SENDING_ENABLED
MSG_GPS2_RAW,
#endif
#if AP_GPS_GPS2_RTK_SENDING_ENABLED
MSG_GPS2_RTK,
#endif
MSG_NAV_CONTROLLER_OUTPUT,
#if AP_FENCE_ENABLED
MSG_FENCE_STATUS,
#endif
MSG_POSITION_TARGET_GLOBAL_INT,
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
MSG_NAMED_FLOAT
#endif // APM_BUILD_TYPE(APM_BUILD_ArduSub)
};
static const ap_message STREAM_POSITION_msgs[] = {
#if AP_AHRS_ENABLED
MSG_LOCATION,
MSG_LOCAL_POSITION
#endif // AP_AHRS_ENABLED
};
static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
#if AP_RC_CHANNEL_ENABLED
MSG_RC_CHANNELS,
#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
#endif
#endif // AP_RC_CHANNEL_ENABLED
};
static const ap_message STREAM_EXTRA1_msgs[] = {
#if AP_AHRS_ENABLED
MSG_ATTITUDE,
#endif // AP_AHRS_ENABLED
#if AP_SIM_ENABLED
MSG_SIMSTATE,
#endif
#if AP_AHRS_ENABLED
MSG_AHRS2,
#endif // AP_AHRS_ENABLED
#if AP_RPM_ENABLED
MSG_RPM,
#endif
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
MSG_AOA_SSA,
#endif
MSG_PID_TUNING,
#if HAL_LANDING_DEEPSTALL_ENABLED && APM_BUILD_TYPE(APM_BUILD_ArduPlane)
MSG_LANDING,
#endif // HAL_LANDING_DEEPSTALL_ENABLED && APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#if HAL_WITH_ESC_TELEM
MSG_ESC_TELEMETRY,
#endif
#if APM_BUILD_TYPE(APM_BUILD_Rover)
MSG_WHEEL_DISTANCE,
#endif // APM_BUILD_TYPE(APM_BUILD_Rover)
#if HAL_GENERATOR_ENABLED
MSG_GENERATOR_STATUS,
#endif
#if AP_WINCH_ENABLED
MSG_WINCH_STATUS,
#endif
#if HAL_EFI_ENABLED
MSG_EFI_STATUS,
#endif
#if AP_AIRSPEED_HYGROMETER_ENABLE
MSG_HYGROMETER,
#endif
};
static const ap_message STREAM_EXTRA2_msgs[] = {
#if !APM_BUILD_TYPE(APM_BUILD_AntennaTracker) && AP_AHRS_ENABLED
MSG_VFR_HUD
#endif
};
static const ap_message STREAM_EXTRA3_msgs[] = {
#if AP_AHRS_ENABLED
MSG_AHRS,
#endif // AP_AHRS_ENABLED
#if AP_MAVLINK_MSG_WIND_ENABLED
MSG_WIND,
#endif // AP_MAVLINK_MSG_WIND_ENABLED
#if AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
MSG_WATER_DEPTH,
#endif // AP_RANGEFINDER_ENABLED && APM_BUILD_TYPE(APM_BUILD_Rover)
MSG_DISTANCE_SENSOR,
MSG_SYSTEM_TIME,
#if AP_TERRAIN_AVAILABLE
MSG_TERRAIN_REPORT,
MSG_TERRAIN_REQUEST,
#endif
#if AP_BATTERY_ENABLED
MSG_BATTERY_STATUS,
#endif
#if HAL_MOUNT_ENABLED
MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
#endif
#if AP_OPTICALFLOW_ENABLED
MSG_OPTICAL_FLOW,
#endif
#if COMPASS_CAL_ENABLED
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
#endif
#if AP_AHRS_ENABLED
MSG_EKF_STATUS_REPORT,
#endif // AP_AHRS_ENABLED
#if !APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
MSG_VIBRATION,
#endif
};
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM,
MSG_AVAILABLE_MODES
};
static const ap_message STREAM_ADSB_msgs[] = {
MSG_ADSB_VEHICLE,
#if AP_AIS_ENABLED
MSG_AIS_VESSEL,
#endif
};
// convenience macros for defining which ap_message ids are in which streams:
#define MAV_STREAM_ENTRY(stream_name) \
{ \
GCS_MAVLINK::stream_name, \
stream_name ## _msgs, \
ARRAY_SIZE(stream_name ## _msgs) \
}
#define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 }
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_PARAMS),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
#endif // HAL_GCS_ENABLED
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