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Change System ID and Component ID defaults and update logic #166
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added 2 commits
April 19, 2018 08:41
Following is the logic:
1. Read ID from the conf file
( 1<id<255 : use as it is, do not read from vehicle
id<=0 or id>=255 : use 1 till read from vehicle)
2. If conf file is not there, use default value 1 till valid ID read
from vehicle
3. If ID has to be read from vehicle,
a. Start sending camera heartbeat with default system ID 1
b. On receiving autopilot heartbeat, send camera heartbeat with
updated system ID.
c. On receiving heartbeats from multiple autopilots, stick to the
first one
When running CSD with gazebo, default is set to MAV_COMP_ID_CAMERA2 to avoid clash with Gazebo Camera running with PX4-SITL. When running without gazebo, default can be set to MAV_COMP_ID_CAMERA.
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@hamishwillee @shakthi-prashanth-m Kindly review |
lbegani
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hamishwillee
approved these changes
Apr 19, 2018
shakthi-prashanth-m
suggested changes
Apr 19, 2018
| @@ -68,20 +68,17 @@ MavlinkServer::MavlinkServer(const ConfFile &conf, std::vector<std::unique_ptr<S | |||
| _broadcast_addr.sin_port = htons(DEFAULT_MAVLINK_PORT); | |||
src/mavlink_server.cpp
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| if (heartbeat.autopilot == 12) | ||
| _system_id = msg->sysid; | ||
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| if (heartbeat.autopilot == 12) { |
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It's highly recommended to use the corresponding macro over a literal.
src/mavlink_server.cpp
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| log_error("Invalid System ID for MAVLink communication (%d)", opt.sysid); | ||
| log_info("Use System ID 1, till heartbeat received from Vehicle"); | ||
| _system_id = 1; | ||
| _is_sys_id_found = false; |
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It was false to to start with, isn't it ?
src/mavlink_server.cpp
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| compid = MAV_COMP_ID_CAMERA; | ||
| #endif | ||
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| while (compid < MAV_COMP_ID_CAMERA6 + 1) { |
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I think, while (compid <= MAV_COMP_ID_CAMERA6) is better in readability.
src/mavlink_server.cpp
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| , _system_id(-1) | ||
| , _comp_id(MAV_COMP_ID_CAMERA2) | ||
| , _is_sys_id_found(false) | ||
| , _system_id(1) |
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A const initializer for default system ID would be better.
src/mavlink_server.cpp
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| , _comp_id(MAV_COMP_ID_CAMERA2) | ||
| , _is_sys_id_found(false) | ||
| , _system_id(1) | ||
| , _comp_id(MAV_COMP_ID_CAMERA) |
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Do you initialize this in cases with or without Gazebo ?
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This is an unused variable, need to be removed later
src/mavlink_server.cpp
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| @@ -75,10 +76,11 @@ MavlinkServer::MavlinkServer(const ConfFile &conf, std::vector<std::unique_ptr<S | |||
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| } else { | |||
| log_error("Invalid System ID for MAVLink communication (%d)", opt.sysid); | |||
| log_info("Use System ID 1, till heartbeat received from Vehicle"); | |||
| log_info("Use System ID %d, till heartbeat received from Vehicle", DEFAULT_SYSTEM_ID); | |||
| _system_id = 1; | |||
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Shouldn't this be
_system_id = DEFAULT_SYSTEM_ID;
added 2 commits
April 23, 2018 15:29
StreamManager is not using mavlink_server
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shakthi-prashanth-m
approved these changes
Apr 23, 2018
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The changes are to update the system id and component id defaults and update logic to fix following issues -