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ardupilot/libraries/GCS_MAVLink/GCS_MAVLink_Parameters.cpp

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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
// 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.
// @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
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),
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[] = {
#if APM_BUILD_TYPE(APM_BUILD_Rover)
MSG_SERVO_OUT,
#endif // #if APM_BUILD_TYPE(APM_BUILD_Rover)
};
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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