Inheritance diagram for Mavlink:

Classes
struct	ping_statistics_s

Public Types
enum	MAVLINK_MODE { MAVLINK_MODE_NORMAL = 0, MAVLINK_MODE_CUSTOM, MAVLINK_MODE_ONBOARD, MAVLINK_MODE_OSD, MAVLINK_MODE_MAGIC, MAVLINK_MODE_CONFIG, MAVLINK_MODE_IRIDIUM, MAVLINK_MODE_MINIMAL, MAVLINK_MODE_EXTVISION, MAVLINK_MODE_COUNT }

enum	BROADCAST_MODE { BROADCAST_MODE_OFF = 0, BROADCAST_MODE_ON, BROADCAST_MODE_MULTICAST }

enum	FLOW_CONTROL_MODE { FLOW_CONTROL_OFF = 0, FLOW_CONTROL_AUTO, FLOW_CONTROL_ON }

Public Member Functions
	Mavlink ()
	Constructor.

	~Mavlink ()
	Destructor, also kills the mavlinks task.

void	display_status ()
	Display the mavlink status.

void	display_status_streams ()
	Display the status of all enabled streams.

mavlink_message_t *	get_buffer ()

mavlink_status_t *	get_status ()

void	set_proto_version (unsigned version)
	Set the MAVLink version. More...

int	get_uart_fd () const

int	get_system_id () const
	Get the MAVLink system id. More...

int	get_component_id () const
	Get the MAVLink component id. More...

enum MAVLINK_MODE	get_mode ()

bool	get_hil_enabled ()

bool	get_use_hil_gps ()

bool	get_forward_externalsp ()

bool	get_flow_control_enabled ()

bool	get_forwarding_on ()

bool	is_connected ()

bool	broadcast_enabled ()

unsigned	get_free_tx_buf ()
	Get the free space in the transmit buffer. More...

int	set_hil_enabled (bool hil_enabled)
	Enable / disable Hardware in the Loop simulation mode. More...

void	set_manual_input_mode_generation (bool generation_enabled)
	Set manual input generation mode. More...

void	set_protocol (Protocol p)
	Set communication protocol for this mavlink instance.

bool	get_manual_input_mode_generation ()
	Get the manual input generation mode. More...

void	begin_send ()
	This is the beginning of a MAVLINK_START_UART_SEND/MAVLINK_END_UART_SEND transaction.

void	send_bytes (const uint8_t *buf, unsigned packet_len)
	Send bytes out on the link. More...

int	send_packet ()
	Flush the transmit buffer and send one MAVLink packet. More...

void	resend_message (mavlink_message_t *msg)
	Resend message as is, don't change sequence number and CRC.

void	handle_message (const mavlink_message_t *msg)

MavlinkOrbSubscription *	add_orb_subscription (const orb_id_t topic, int instance=0, bool disable_sharing=false)
	Add a mavlink orb topic subscription while ensuring that only a single object exists for a given topic id and instance. More...

int	get_instance_id () const

int	enable_flow_control (enum FLOW_CONTROL_MODE enabled)
	Enable / disable hardware flow control. More...

mavlink_channel_t	get_channel () const

void	configure_stream_threadsafe (const char *stream_name, float rate=-1.0f)

orb_advert_t *	get_mavlink_log_pub ()

void	send_statustext_info (const char *string)
	Send a status text with loglevel INFO. More...

void	send_statustext_critical (const char *string)
	Send a status text with loglevel CRITICAL. More...

void	send_statustext_emergency (const char *string)
	Send a status text with loglevel EMERGENCY. More...

void	send_statustext (unsigned char severity, const char *string)
	Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent only on this mavlink connection. More...

void	send_autopilot_capabilites ()
	Send the capabilities of this autopilot in terms of the MAVLink spec.

void	send_protocol_version ()
	Send the protocol version of MAVLink.

List< MavlinkStream * > &	get_streams ()

float	get_rate_mult () const

float	get_baudrate ()

void	set_has_received_messages (bool received_messages)

bool	get_has_received_messages ()

void	set_wait_to_transmit (bool wait)

bool	get_wait_to_transmit ()

bool	should_transmit ()

bool	message_buffer_write (const void *ptr, int size)

void	lockMessageBufferMutex (void)

void	unlockMessageBufferMutex (void)

void	count_txbytes (unsigned n)
	Count transmitted bytes.

void	count_txerrbytes (unsigned n)
	Count bytes not transmitted because of errors.

void	count_rxbytes (unsigned n)
	Count received bytes.

telemetry_status_s &	get_telemetry_status ()
	Get the receive status of this MAVLink link.

void	set_telemetry_status_type (uint8_t type)

void	update_radio_status (const radio_status_s &radio_status)

ringbuffer::RingBuffer *	get_logbuffer ()

unsigned	get_system_type ()

Protocol	get_protocol ()

unsigned short	get_network_port ()

unsigned short	get_remote_port ()

int	get_socket_fd ()

bool	get_client_source_initialized ()

uint64_t	get_start_time ()

bool	is_usb_uart ()

int	get_data_rate ()

void	set_data_rate (int rate)

unsigned	get_main_loop_delay () const

MavlinkShell *	get_shell ()
	get the Mavlink shell. More...

void	close_shell ()
	close the Mavlink shell if it is open

MavlinkULog *	get_ulog_streaming ()
	get ulog streaming if active, nullptr otherwise

void	try_start_ulog_streaming (uint8_t target_system, uint8_t target_component)

void	request_stop_ulog_streaming ()

void	set_uorb_main_fd (int fd, unsigned int interval)

bool	ftp_enabled () const

bool	hash_check_enabled () const

bool	forward_heartbeats_enabled () const

bool	odometry_loopback_enabled () const

struct ping_statistics_s &	get_ping_statistics ()
	Get the ping statistics of this MAVLink link.

Public Member Functions inherited from ModuleParams
	ModuleParams (ModuleParams *parent)

void	setParent (ModuleParams *parent)
	Sets the parent module. More...

	ModuleParams (const ModuleParams &)=delete

ModuleParams &	operator= (const ModuleParams &)=delete

	ModuleParams (ModuleParams &&)=delete

ModuleParams &	operator= (ModuleParams &&)=delete

Public Member Functions inherited from ListNode< ModuleParams *>
void	setSibling (ModuleParams * sibling)

const ModuleParams *	getSibling () const

Static Public Member Functions
static int	start (int argc, char *argv[])
	Start the mavlink task. More...

static int	stream_command (int argc, char *argv[])

static int	instance_count ()

static Mavlink *	new_instance ()

static Mavlink *	get_instance (int instance)

static Mavlink *	get_instance_for_device (const char *device_name)

static Mavlink *	get_instance_for_network_port (unsigned long port)

static int	destroy_all_instances ()

static int	get_status_all_instances (bool show_streams_status)

static bool	instance_exists (const char device_name, Mavlink self)

static void	forward_message (const mavlink_message_t msg, Mavlink self)

static int	get_uart_fd (unsigned index)

static const char *	mavlink_mode_str (enum MAVLINK_MODE mode)

static void	set_boot_complete ()
	Set the boot complete flag on all instances. More...

static int	start_helper (int argc, char *argv[])

static bool	boot_complete ()

Public Attributes
const char *	_device_name {DEFAULT_DEVICE_NAME}

bool	_task_should_exit {false}
	Mavlink task should exit iff true. More...

Protected Attributes
Mavlink *	next {nullptr}

Protected Attributes inherited from ListNode< ModuleParams *>
ModuleParams *	_sibling

Additional Inherited Members
Protected Member Functions inherited from ModuleParams
virtual void	updateParams ()
	Call this method whenever the module gets a parameter change notification. More...

virtual void	updateParamsImpl ()
	The implementation for this is generated with the macro DEFINE_PARAMETERS()

Member Function Documentation

§ add_orb_subscription()

MavlinkOrbSubscription * Mavlink::add_orb_subscription	(	const orb_id_t	topic,
		int	instance = `0`,
		bool	disable_sharing = `false`
	)

Add a mavlink orb topic subscription while ensuring that only a single object exists for a given topic id and instance.

Parameters

topic	orb topic id
instance	topic instance
disable_sharing	if true, force creating a new instance

§ enable_flow_control()

int Mavlink::enable_flow_control ( enum FLOW_CONTROL_MODE enabled )

Enable / disable hardware flow control.

Parameters

enabled True if hardware flow control should be enabled

§ get_component_id()

int Mavlink::get_component_id ( ) const

inline

Get the MAVLink component id.

Returns: The component ID of this vehicle

§ get_free_tx_buf()

unsigned Mavlink::get_free_tx_buf ( )

Get the free space in the transmit buffer.

Returns: free space in the UART TX buffer

§ get_manual_input_mode_generation()

bool Mavlink::get_manual_input_mode_generation ( )

inline

Get the manual input generation mode.

Returns: true if manual inputs should generate RC data

§ get_shell()

MavlinkShell * Mavlink::get_shell ( )

get the Mavlink shell.

Create a new one if there isn't one. It is always created via MavlinkReceiver thread. Returns nullptr if shell cannot be created

§ get_system_id()

int Mavlink::get_system_id ( ) const

inline

Get the MAVLink system id.

Returns: The system ID of this vehicle

§ send_bytes()

void Mavlink::send_bytes	(	const uint8_t *	buf,
		unsigned	packet_len
	)

Send bytes out on the link.

On a network port these might actually get buffered to form a packet.

§ send_packet()

int Mavlink::send_packet ( )

Flush the transmit buffer and send one MAVLink packet.

Returns: the number of bytes sent or -1 in case of error

§ send_statustext()

void Mavlink::send_statustext	(	unsigned char	severity,
		const char *	string
	)

Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent only on this mavlink connection.

Useful for reporting communication specific, not system-wide info only to client interested in it. Message will be not sent immediately but queued in buffer as for mavlink_log_xxx().

Parameters

string	the message to send (will be capped by mavlink max string length)
severity	the log level

§ send_statustext_critical()

void Mavlink::send_statustext_critical ( const char * string )

Send a status text with loglevel CRITICAL.

Parameters

string the message to send (will be capped by mavlink max string length)

§ send_statustext_emergency()

void Mavlink::send_statustext_emergency ( const char * string )

Send a status text with loglevel EMERGENCY.

Parameters

string the message to send (will be capped by mavlink max string length)

§ send_statustext_info()

void Mavlink::send_statustext_info ( const char * string )

Send a status text with loglevel INFO.

Parameters

string the message to send (will be capped by mavlink max string length)

§ set_boot_complete()

void Mavlink::set_boot_complete ( )

static

Set the boot complete flag on all instances.

Setting the flag unblocks parameter transmissions, which are gated beforehand to ensure that the system is fully initialized.

§ set_hil_enabled()

int Mavlink::set_hil_enabled ( bool hil_enabled )

Enable / disable Hardware in the Loop simulation mode.

Parameters

hil_enabled The new HIL enable/disable state.

Returns: OK if the HIL state changed, ERROR if the requested change could not be made or was redundant.

§ set_manual_input_mode_generation()

void Mavlink::set_manual_input_mode_generation ( bool generation_enabled )

inline

Set manual input generation mode.

Set to true to generate RC_INPUT messages on the system bus from MAVLink messages.

Parameters

generation_enabled If set to true, generate RC_INPUT messages

§ set_proto_version()

void Mavlink::set_proto_version ( unsigned version )

Set the MAVLink version.

Currently supporting v1 and v2

Parameters

version MAVLink version

§ start()

int Mavlink::start	(	int	argc,
		char *	argv[]
	)

static

Start the mavlink task.

Returns: OK on success.

Member Data Documentation

§ _task_should_exit

bool Mavlink::_task_should_exit {false}

Mavlink task should exit iff true.

The documentation for this class was generated from the following files:

src/modules/mavlink/mavlink_main.h
src/modules/mavlink/mavlink_main.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Member Function Documentation

§ add_orb_subscription()

§ enable_flow_control()

§ get_component_id()

§ get_free_tx_buf()

§ get_manual_input_mode_generation()

§ get_shell()

§ get_system_id()

§ send_bytes()

§ send_packet()

§ send_statustext()

§ send_statustext_critical()

§ send_statustext_emergency()

§ send_statustext_info()

§ set_boot_complete()

§ set_hil_enabled()

§ set_manual_input_mode_generation()

§ set_proto_version()

§ start()

Member Data Documentation

§ _task_should_exit