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Support MAVLink console

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Implement receiving and sending SERIAL_CONTROL message
Use global defined print function instead of Serial.printf
This commit is contained in:
Oleg Kalachev
2025-02-18 10:33:01 +03:00
parent bfef7bd26a
commit d60628e14d
13 changed files with 103 additions and 55 deletions
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21
flix/mavlink.ino
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@@ -147,6 +147,14 @@ void handleMavlink(const void *_msg) {
sendMessage(&msg);
}
if (msg->msgid == MAVLINK_MSG_ID_SERIAL_CONTROL) {
mavlink_serial_control_t serialControl;
mavlink_msg_serial_control_decode(msg, &serialControl);
char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
strlcpy(data, (const char *)serialControl.data, serialControl.count); // data might be not null-terminated
doCommand(data, true);
}
// Handle commands
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t commandLong;
@@ -167,6 +175,19 @@ void handleMavlink(const void *_msg) {
}
}
// Send shell output to GCS
void mavlinkPrint(const char* str) {
// Send data in chunks
for (int i = 0; i < strlen(str); i += MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN) {
char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1];
strlcpy(data, str + i, sizeof(data));
mavlink_message_t msg;
mavlink_msg_serial_control_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
SERIAL_CONTROL_DEV_SHELL, 0, 0, 0, strlen(data), (uint8_t *)data, 0, 0);
sendMessage(&msg);
}
}
// Convert Forward-Left-Up to Forward-Right-Down quaternion
inline Quaternion FLU2FRD(const Quaternion &q) {
return Quaternion(q.w, q.x, -q.y, -q.z);