Added handling methods through mavlink #244
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Contributor
Michal-Mankowski
commented
Jun 8, 2025
Michal-Mankowski
commented
- Listening loop that read uart for the messages from mavlink.
- Checks the message id and does corresponding action.
- Sends ack after every method.
| @@ -28,6 +29,7 @@ constexpr auto KGPS_UART_baudrate = B115200; | |||
| constexpr auto kSystemId = 1; | |||
| constexpr auto kComponentId = 200; | |||
| constexpr auto kTime = 1000; | |||
| constexpr auto kBufferSize = 12; | |||
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czemu akurat 12?
skoro masz dostępne MAVLINK_MAX_PACKET_LEN
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Spojrzałem ile bitów trzeba wysłać przed i po wiadomości no i jakiej długości jest największa wiadomość. Wyszło mi 12 z tych szybkich obliczeń.
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| auto bytes_read_opt = uart_->Read(kBufferSize); | ||
| if (!bytes_read_opt.has_value()) { | ||
| continue; | ||
| } | ||
| auto bytes_read = bytes_read_opt.value(); | ||
| for (uint8_t byte : bytes_read) { | ||
| if (mavlink_parse_char(MAVLINK_COMM_0, byte, &msg, &status)) { |
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skoro i tak to potem dzielisz na uint8, to moze odczytywać po 1 bajcie z uart?
| } | ||
| } | ||
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| void RadioApp::SendAck(uint8_t msgId, uint8_t msgSeq, uint8_t status) { |
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zmien argumenty na enumy z simba mavlink, jak bedziesz mial nowa wersje
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