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High Latency Telemetry Support #8582

Merged
merged 48 commits into from
Apr 11, 2018
Merged

High Latency Telemetry Support #8582

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2ff74d5
En-/disable transmitting from a mavlink instance using a uORB message
acfloria Dec 14, 2017
1cfd280
Improvements for the iridiumsbd driver
acfloria Dec 21, 2017
1ba5e36
Add switch logic for high latency telemetry in commander
acfloria Dec 21, 2017
a776040
Refactor Iridiumsbd driver
acfloria Jan 3, 2018
78f8dc8
Commander: High latency telem fallback only in non-manual mode
acfloria Jan 4, 2018
232ec1a
Style fix and iridium signal check rate fix
acfloria Jan 10, 2018
0b200ab
Remove magic numbers from commander.cpp and style fixes
acfloria Jan 10, 2018
c8e7296
commander: Fix for qurt and improve high latency switch logic
acfloria Jan 11, 2018
9a26ed3
Add the SimpleAnalyzer to generate messages for MAVLink streams
acfloria Jan 26, 2018
ef5e9b1
Add the HighLatency2 mavlink stream
acfloria Jan 30, 2018
4c791cd
Fix format and remove ets driver from fmu-v2 build
acfloria Jan 31, 2018
27a5240
Adopt mavlink stream to new HIGH_LATENCY2 definition
acfloria Feb 9, 2018
a1e341a
Fixes IridiumSBD driver bug when transmitting data
acfloria Feb 26, 2018
4df4cb7
Adopt high latency switching to new MAV_CMD design
acfloria Feb 26, 2018
872e3de
Set the HIGH_LATENCY2 stream to a constant rate
acfloria Feb 27, 2018
fb1637c
Do not enable hil for high latency mavlink
acfloria Feb 27, 2018
14c6fc2
Small improvements for the IridiumSBD driver
acfloria Mar 1, 2018
0c05dcc
Transmit one message over high latency telemetry on boot
acfloria Mar 1, 2018
6674470
Update timestamp for last sent message im mavlink stream only if the …
acfloria Mar 1, 2018
72cf7ca
Only generate the HIGH_LATENCY2 message if transmitting is allowed
acfloria Mar 1, 2018
b6dd548
Improve message handling in mavlink IRIDIUM mode
acfloria Mar 5, 2018
bd5c7ae
Fix bug when ISBD parameters were too large
acfloria Mar 6, 2018
c5d1d25
Reduce required stack for HIGH_LATENCY2
acfloria Mar 8, 2018
55e5d72
Remove exception for command acknowledge in mavlink transmitting
acfloria Mar 8, 2018
e632040
Improve IridiumSBD TX buffer handling
acfloria Mar 9, 2018
5a1edc2
Iridiumsbd driver: Publish log message when TX buffer is deleted
acfloria Mar 9, 2018
17cf032
IridiumSBD: Only write to modem if new data arrived
acfloria Mar 13, 2018
3d1e5ac
IridiumSBD: Improve TX buffer handling
acfloria Mar 13, 2018
3a1daa6
IridiumSBD: Do not allow stopping the driver when the device is used …
acfloria Mar 13, 2018
7b6f731
MavlinkStream: Ensure that not multiple messages are sent after some …
acfloria Mar 13, 2018
2a1b174
IridiumSBD: Robustify state machine and fix format
acfloria Mar 13, 2018
e2dece5
Increase the MavLink module stack size
acfloria Mar 14, 2018
9c2a30b
Commander: Improve handling and generating of VEHICLE_CMD_CONTROL_HIG…
acfloria Mar 15, 2018
6e4dc11
Commander: Move telemetry logic to separate functions
acfloria Mar 23, 2018
59b6191
Commander: Fix bug when changing to high latency telemetry
acfloria Mar 29, 2018
5c65196
revert v2 cmake changes
acfloria Mar 29, 2018
2015996
Commander: Remove Mavlink from CMakeFile
acfloria Mar 30, 2018
d4fd44d
Mavlink: Use filtered update rate for HIGH_LATENCY2 stream instead of…
acfloria Apr 4, 2018
b7de11a
Mavlink: Add acknowledge for VEHICLE_CMD_CONTROL_HIGH_LATENCY
acfloria Apr 5, 2018
da63194
Commander: Combine telemetry variables into struct
acfloria Apr 5, 2018
de9476f
Remove unnecessary newlines
acfloria Apr 5, 2018
9d469b5
IridiumSBD: Log tx buffer reset in the telemetry_status instead of a …
acfloria Apr 6, 2018
9a8b7e0
IridiumSBD: Clean up MavLink message parsing
acfloria Apr 6, 2018
d2764ef
Move VEHICLE_CMD_CONTROL_HIGH_LATENCY ack to commander
acfloria Apr 6, 2018
e56e9ce
Move the SimpleAnalyzer to a separate file
acfloria Apr 10, 2018
e816741
Move HIGH_LATENCY2 stream to separate file and update some comments"
acfloria Apr 10, 2018
2a7d5f1
MavlinkReceiver: Don't start MissionManager in IRIDIUM mode
acfloria Apr 10, 2018
8097dd6
Mavlink: Don't use a packed struct as input for the convert_limit_saf…
acfloria Apr 11, 2018
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1 change: 1 addition & 0 deletions msg/vehicle_command.msg
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Expand Up @@ -72,6 +72,7 @@ uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed pay
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # control starting/stopping transmitting data over the high latency link

uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
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1 change: 1 addition & 0 deletions msg/vehicle_status.msg
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Expand Up @@ -61,6 +61,7 @@ bool rc_signal_lost # true if RC reception lost
uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.

bool data_link_lost # datalink to GCS lost
bool high_latency_data_link_active # all low latency datalinks to GCS lost
uint8 data_link_lost_counter # counts unique data link lost events
bool engine_failure # Set to true if an engine failure is detected
bool mission_failure # Set to true if mission could not continue/finish
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