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MAVLink to ROS gateway with proxy for Ground Control Station
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AUTOPILOT_VERSION add to sys_status #96

Closed TSC21 closed 9 years ago

TSC21 commented 10 years ago

New message definitions has AUTOPILOT_VERSION, which can be useful to add to sys_status plugin.

Added by @vooon:

mhkabir commented 9 years ago

@vooon APM has support for this now. I will add PX4 support if required.

vooon commented 9 years ago

Can't find how they do it in the code. But seen PR for AUTOPILOT_VERSION_REQUEST, and as i remember @LorenzMeier wanted to send AUTOPILOT_VERSION periodically.

vooon commented 9 years ago

APM now sends AUTOPILOT_VERSION in response to command MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES.

TSC21 commented 9 years ago

@vooon AUTOPILOT_CAPABILITIES is already supported on Firmware (https://github.com/PX4/Firmware/pull/2181). But testing it on mavros node start gave this result:

[ INFO] [1432376904.331698271]: VER: Capabilities 0x00000000000004eb
[ INFO] [1432376904.331779081]: VER: Flight software:     00000000 (j?#Q6I`j?#Q6I`)
[ INFO] [1432376904.331814379]: VER: Middleware software: 00000000 (j?#Q6I`)
[ INFO] [1432376904.331850687]: VER: OS software:         00000000 (        )
[ INFO] [1432376904.331881663]: VER: Board hardware:      00000000
[ INFO] [1432376904.331912500]: VER: VID/PID: 26ac:0011
[ INFO] [1432376904.331939803]: VER: UID: 3432470a31323533

Something must not be right. Can't tell if this is on mavros side or firmware side.

LorenzMeier commented 9 years ago

Its mavros. It should be printing the 8 bytes as hex, not as characters.

TSC21 commented 9 years ago

Ok. I'll see what I can do then. Thanks!

Update: I think the reason is the APM sending the custom version array[8] as a string, as @vooon stated here: https://github.com/mavlink/mavros/commit/f07ca08c99a5d30f63a351003d1e4a12e49a769c#diff-e6ca3412eb7b4e4e7caab100190b2b9eR577 (can be seen here: https://github.com/diydrones/ardupilot/blob/78f02634d00a0962da4a3d15ed56e594cd40022d/libraries/GCS_MAVLink/GCS_Common.cpp#L1263). So code is adapted to APM. @LorenzMeier any reason custom version should be sent as strings?