From d908d85129dc3db86093a99d1e6acbe7eda75afa Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Thu, 5 Sep 2024 12:53:57 +0000
Subject: [PATCH] [Mavlink] Update mavlink
---
libs/mavlink-skyward-lib | 2 +-
scripts/udp_gs_tester.py | 94 +++++++++-----------
src/shared/Modules/CommandPad/MessagesList.h | 13 ++-
src/shared/Modules/Mavlink/MavlinkCodec.cpp | 12 +++
4 files changed, 68 insertions(+), 53 deletions(-)
diff --git a/libs/mavlink-skyward-lib b/libs/mavlink-skyward-lib
index afdea943..83b02b9a 160000
--- a/libs/mavlink-skyward-lib
+++ b/libs/mavlink-skyward-lib
@@ -1 +1 @@
-Subproject commit afdea9432a5844b1591c0fb90c17612cc7ea878c
+Subproject commit 83b02b9af8adfe0d2d95b54dc3d16124cfc754b5
diff --git a/scripts/udp_gs_tester.py b/scripts/udp_gs_tester.py
index 87fb0a14..0c4e0869 100755
--- a/scripts/udp_gs_tester.py
+++ b/scripts/udp_gs_tester.py
@@ -46,58 +46,50 @@ def get_timestamp():
def fake_data(i):
return MAVLink_rocket_flight_tm_message(
get_timestamp(), # timestamp
- 0, # ada_state
- i % 15, # fmm_state
- 0, # dpl_state
- 0, # abk_state
- 0, # nas_state
- 0, # mea_state
- 0.0, # pressure_ada
- 0.0, # pressure_digi
- 0.0, # pressure_static
- 0.0, # pressure_dpl
- 0.0, # airspeed_pitot
- 0.0, # altitude_agl
- 0.0, # ada_vert_speed
- 0.0, # mea_mass
- i * 2, # acc_x
- i * 3, # acc_y
- i * 4, # acc_z
- 0.0, # gyro_x
- 0.0, # gyro_y
- 0.0, # gyro_z
- 0.0, # mag_x
- 0.0, # mag_y
- 0.0, # mag_z
+ 0, # pressure_ada
+ 0, # pressure_digi
+ 0, # pressure_static
+ 0, # pressure_dpl
+ 0, # airspeed_pitot
+ 0, # altitude_agl
+ 0, # ada_vert_speed
+ 0, # mea_mass
+ 0, # mea_apogee
+ 0, # acc_x
+ 0, # acc_y
+ 0, # acc_z
+ 0, # gyro_x
+ 0, # gyro_y
+ 0, # gyro_z
+ 0, # mag_x
+ 0, # mag_y
+ 0, # mag_z
+ 0, # vn100_qx
+ 0, # vn100_qy
+ 0, # vn100_qz
+ 0, # vn100_qw
0, # gps_fix
- 0.0, # gps_lat
- 0.0, # gps_lon
- 0.0, # gps_alt
- 0.0, # abk_angle
- 0.0, # nas_n
- 0.0, # nas_e
- 0.0, # nas_d
- 0.0, # nas_vn
- 0.0, # nas_ve
- 0.0, # nas_vd
- 0.0, # nas_qx
- 0.0, # nas_qy
- 0.0, # nas_qz
- 0.0, # nas_qw
- 0.0, # nas_bias_x
- 0.0, # nas_bias_y
- 0.0, # nas_bias_z
- 0, # pin_quick_connector
- 0, # pin_launch
- 0, # pin_nosecone
- 0, # pin_expulsion
- 0, # cutter_presence
- 0.0, # battery_voltage
- 0.0, # current_consumption
- 0.0, # cam_battery_voltage
- 0.0, # temperature
- 0, # logger_error
-
+ 0, # gps_lat
+ 0, # gps_lon
+ 0, # gps_alt
+ 0, # fmm_state
+ 0, # abk_angle
+ 0, # nas_n
+ 0, # nas_e
+ 0, # nas_d
+ 0, # nas_vn
+ 0, # nas_ve
+ 0, # nas_vd
+ 0, # nas_qx
+ 0, # nas_qy
+ 0, # nas_qz
+ 0, # nas_qw
+ 0, # nas_bias_x
+ 0, # nas_bias_y
+ 0, # nas_bias_z
+ 0, # battery_voltage
+ 0, # cam_battery_voltage
+ 0, # temperature
)
def build_ack(msg):
diff --git a/src/shared/Modules/CommandPad/MessagesList.h b/src/shared/Modules/CommandPad/MessagesList.h
index 9c5f6dc7..9def5fed 100644
--- a/src/shared/Modules/CommandPad/MessagesList.h
+++ b/src/shared/Modules/CommandPad/MessagesList.h
@@ -55,6 +55,8 @@ static const QStringList messagesList{"PING_TC",
"SET_IGNITION_TIME_TC",
"SET_NITROGEN_TIME_TC",
"SET_COOLING_TIME_TC",
+ "SET_INITIAL_MEA_MASS_TC",
+ "SET_CALIBRATION_PRESSURE_TC",
"CONRIG_STATE_TC"};
static const QMap<QString, int> systemTmList{
@@ -73,7 +75,8 @@ static const QMap<QString, int> systemTmList{
{"MAV_GSE_ID", MAV_GSE_ID},
{"MAV_MOTOR_ID", MAV_MOTOR_ID},
{"MAV_REGISTRY_ID", MAV_REGISTRY_ID},
- {"MAV_REFERENCE_ID", MAV_REFERENCE_ID}};
+ {"MAV_REFERENCE_ID", MAV_REFERENCE_ID},
+ {"MAV_CALIBRATION_ID", MAV_CALIBRATION_ID}};
static const QMap<QString, int> sensorsList{
{"MAV_BMX160_ID", MAV_BMX160_ID},
@@ -319,6 +322,14 @@ inline void fillMessagesMap(QMap<QString, MessageFormElement *> &formElements)
element->addFloat("longitude", "Longitude:", -90, 90, 6);
element->addFloat("height", "Height:", 0, 9999, 6);
formElements["SET_ROCKET_COORDINATES_ARP_TC"] = element;
+
+ element = new MessageFormElement();
+ element->addFloat("mass", "Mass:", 100, 100, 2);
+ formElements["SET_INITIAL_MEA_MASS_TC"] = element;
+
+ element = new MessageFormElement();
+ element->addFloat("pressure", "Pressure:", 0, 200000, 2);
+ formElements["SET_CALIBRATION_PRESSURE_TC"] = element;
}
} // namespace MessagesList
diff --git a/src/shared/Modules/Mavlink/MavlinkCodec.cpp b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
index 33e3980f..122c642f 100644
--- a/src/shared/Modules/Mavlink/MavlinkCodec.cpp
+++ b/src/shared/Modules/Mavlink/MavlinkCodec.cpp
@@ -467,6 +467,18 @@ bool MavlinkCodec::encodeMessage(const Message& msg, SysId sysId, CompId compId,
msg.getField("multiplier").getDouble());
return true;
}
+ else if (messageName == "SET_CALIBRATION_PRESSURE_TC")
+ {
+ mavlink_msg_set_calibration_pressure_tc_pack(
+ sysId, compId, &output, msg.getField("pressure").getDouble());
+ return true;
+ }
+ else if (messageName == "SET_INITIAL_MEA_MASS_TC")
+ {
+ mavlink_msg_set_calibration_pressure_tc_pack(
+ sysId, compId, &output, msg.getField("mass").getDouble());
+ return true;
+ }
return false;
}
--
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