/*
save the signing timestamp periodically
*/
void GCS_MAVLINK::save_signing_timestamp(bool force_save_now)
{
uint32_t now = AP_HAL::millis();
// we save the timestamp every 30s, unless forced by a GPS update
if (!force_save_now && now - last_signing_save_ms < 30*1000UL) {
return;
}
last_signing_save_ms = now;
struct SigningKey key;
if (!signing_key_load(key)) {
return;
}
bool need_save = false;
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + i);
const mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status && status->signing && status->signing->timestamp > key.timestamp) {
key.timestamp = status->signing->timestamp;
need_save = true;
}
}
if (need_save) {
// save updated key
signing_key_save(key);
}
}
//TODO: handle full txspace properly
void DataFlash_MAVLink::send_log_block(uint32_t block_address)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised || comm_get_txspace(chan) < 255){
return;
}
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink.seq++;
Debug("Data Sent!!\n");
uint16_t len = mavlink_msg_remote_log_data_block_pack(mavlink.system_id,
mavlink.component_id,
&msg,
255, //GCS SYS ID
0,
_block_max_size,
_block_num[block_address],
_buf[block_address]);
if(comm_get_txspace(chan) < len){
return;
}
chan_status->current_tx_seq = saved_seq;
_mavlink_resend_uart(chan, &msg);
}
/*
return true if signing is enabled on this channel
*/
bool GCS_MAVLINK::signing_enabled(void) const
{
const mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status->signing && (status->signing->flags & MAVLINK_SIGNING_FLAG_SIGN_OUTGOING)) {
return true;
}
return false;
}
/*
load signing key
*/
void GCS_MAVLINK::load_signing_key(void)
{
struct SigningKey key;
if (!signing_key_load(key)) {
hal.console->printf("Failed to load signing key");
return;
}
mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status == NULL) {
hal.console->printf("Failed to load signing key - no status");
return;
}
memcpy(signing.secret_key, key.secret_key, 32);
signing.link_id = (uint8_t)chan;
// use a timestamp 1 minute past the last recorded
// timestamp. Combined with saving the key once every 30s this
// prevents a window for replay attacks
signing.timestamp = key.timestamp + 60UL * 100UL * 1000UL;
signing.flags = MAVLINK_SIGNING_FLAG_SIGN_OUTGOING;
signing.accept_unsigned_callback = accept_unsigned_callback;
// if timestamp and key are all zero then we disable signing
bool all_zero = (key.timestamp == 0);
for (uint8_t i=0; i<sizeof(key.secret_key); i++) {
if (signing.secret_key[i] != 0) {
all_zero = false;
}
}
// enable signing on all channels
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
mavlink_status_t *cstatus = mavlink_get_channel_status((mavlink_channel_t)(MAVLINK_COMM_0 + i));
if (cstatus != NULL) {
if (all_zero) {
// disable signing
cstatus->signing = NULL;
cstatus->signing_streams = NULL;
} else {
cstatus->signing = &signing;
cstatus->signing_streams = &signing_streams;
}
}
}
}
//TODO: handle full txspace properly
bool DataFlash_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (!HAVE_PAYLOAD_SPACE(chan, REMOTE_LOG_DATA_BLOCK)) {
return false;
}
if (comm_get_txspace(chan) < 500) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (rand() < 0.1) {
return false;
}
#endif
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqstate_t istate = irqsave();
#endif
// DM_packing: 267039 events, 0 overruns, 8440834us elapsed, 31us avg, min 31us max 32us 0.488us rms
hal.util->perf_begin(_perf_packing);
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
hal.util->perf_end(_perf_packing);
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqrestore(istate);
#endif
block.last_sent = AP_HAL::millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = AP_HAL::millis();
_mavlink_resend_uart(chan, &msg);
return true;
}
static bool accept_unsigned_callback(const mavlink_status_t *status, uint32_t msgId)
{
if (status == mavlink_get_channel_status(MAVLINK_COMM_0)) {
// always accept channel 0, assumed to be secure channel. This
// is USB on PX4 boards
return true;
}
for (uint8_t i=0; i<ARRAY_SIZE(accept_list); i++) {
if (accept_list[i] == msgId) {
return true;
}
}
return false;
}
static void shell_cmd_stats(char *args, void *data)
{
mavlink_status_t *status;
unsigned char i;
for (i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
status = mavlink_get_channel_status(i);
shell_printf("\nMavlink channel %d\n", i);
shell_printf(" msg_received=%d\n", status->msg_received);
shell_printf(" packet_rx_drop_count=%d\n", status->packet_rx_drop_count);
shell_printf(" packet_rx_success_count=%d\n", status->packet_rx_success_count);
}
shell_printf("\nActive channel mask=%x\n", active_channel_mask);
shell_printf("\nUAV last seen %lums ago\n", get_millis() - uav_last_seen);
}
//TODO: handle full txspace properly
bool DataFlash_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (comm_get_txspace(chan) < MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK_LEN) {
return false;
}
if (comm_get_txspace(chan) < 500) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
if (rand() < 0.1) {
return false;
}
#endif
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
block.last_sent = hal.scheduler->millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = hal.scheduler->millis();
_mavlink_resend_uart(chan, &msg);
return true;
}
/*
return packet overhead in bytes for a channel
*/
uint8_t GCS_MAVLINK::packet_overhead_chan(mavlink_channel_t chan)
{
/*
reserve 100 bytes for parameters when a GCS fails to fetch a
parameter due to lack of buffer space. The reservation lasts 2
seconds
*/
uint8_t reserved_space = 0;
if (reserve_param_space_start_ms != 0 &&
AP_HAL::millis() - reserve_param_space_start_ms < 2000) {
reserved_space = 100;
} else {
reserve_param_space_start_ms = 0;
}
const mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status->signing && (status->signing->flags & MAVLINK_SIGNING_FLAG_SIGN_OUTGOING)) {
return MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN + reserved_space;
}
return MAVLINK_NUM_NON_PAYLOAD_BYTES + reserved_space;
}
/*
update signing timestamp. This is called when we get GPS lock
timestamp_usec is since 1/1/1970 (the epoch)
*/
void GCS_MAVLINK::update_signing_timestamp(uint64_t timestamp_usec)
{
uint64_t signing_timestamp = (timestamp_usec / (1000*1000ULL));
// this is the offset from 1/1/1970 to 1/1/2015
const uint64_t epoch_offset = 1420070400;
if (signing_timestamp > epoch_offset) {
signing_timestamp -= epoch_offset;
}
// convert to 10usec units
signing_timestamp *= 100 * 1000ULL;
// increase signing timestamp on any links that have signing
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + i);
mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status && status->signing && status->signing->timestamp < signing_timestamp) {
status->signing->timestamp = signing_timestamp;
}
}
// save to stable storage
save_signing_timestamp(true);
}
/*
send a report to the vehicle control code over MAVLink
*/
void Gimbal::send_report(void)
{
if (!mavlink.connected && mav_socket.connect(target_address, target_port)) {
::printf("Gimbal connected to %s:%u\n", target_address, (unsigned)target_port);
mavlink.connected = true;
}
if (!mavlink.connected) {
return;
}
// check for incoming MAVLink messages
uint8_t buf[100];
ssize_t ret;
while ((ret=mav_socket.recv(buf, sizeof(buf), 0)) > 0) {
for (uint8_t i=0; i<ret; i++) {
mavlink_message_t msg;
mavlink_status_t status;
if (mavlink_frame_char_buffer(&mavlink.rxmsg, &mavlink.status,
buf[i],
&msg, &status) == MAVLINK_FRAMING_OK) {
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: {
if (!seen_heartbeat) {
seen_heartbeat = true;
vehicle_component_id = msg.compid;
vehicle_system_id = msg.sysid;
::printf("Gimbal using srcSystem %u\n", (unsigned)vehicle_system_id);
}
break;
}
case MAVLINK_MSG_ID_GIMBAL_CONTROL: {
mavlink_gimbal_control_t pkt;
mavlink_msg_gimbal_control_decode(&msg, &pkt);
demanded_angular_rate = Vector3f(pkt.demanded_rate_x,
pkt.demanded_rate_y,
pkt.demanded_rate_z);
// no longer supply a bias
supplied_gyro_bias.zero();
seen_gimbal_control = true;
break;
}
}
}
}
}
if (!seen_heartbeat) {
return;
}
uint32_t now = hal.scheduler->millis();
mavlink_message_t msg;
uint16_t len;
if (now - last_heartbeat_ms >= 1000) {
mavlink_heartbeat_t heartbeat;
heartbeat.type = MAV_TYPE_GIMBAL;
heartbeat.autopilot = MAV_AUTOPILOT_ARDUPILOTMEGA;
heartbeat.base_mode = 0;
heartbeat.system_status = 0;
heartbeat.mavlink_version = 0;
heartbeat.custom_mode = 0;
/*
save and restore sequence number for chan0, as it is used by
generated encode functions
*/
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_heartbeat_encode(vehicle_system_id,
vehicle_component_id,
&msg, &heartbeat);
chan0_status->current_tx_seq = saved_seq;
mav_socket.send(&msg.magic, len);
last_heartbeat_ms = now;
}
/*
send a GIMBAL_REPORT message
*/
uint32_t now_us = hal.scheduler->micros();
if (now_us - last_report_us > reporting_period_ms*1000UL) {
mavlink_gimbal_report_t gimbal_report;
float delta_time = (now_us - last_report_us) * 1.0e-6f;
last_report_us = now_us;
gimbal_report.target_system = vehicle_system_id;
gimbal_report.target_component = vehicle_component_id;
gimbal_report.delta_time = delta_time;
gimbal_report.delta_angle_x = delta_angle.x;
gimbal_report.delta_angle_y = delta_angle.y;
gimbal_report.delta_angle_z = delta_angle.z;
gimbal_report.delta_velocity_x = delta_velocity.x;
gimbal_report.delta_velocity_y = delta_velocity.y;
gimbal_report.delta_velocity_z = delta_velocity.z;
gimbal_report.joint_roll = joint_angles.x;
gimbal_report.joint_el = joint_angles.y;
gimbal_report.joint_az = joint_angles.z;
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_gimbal_report_encode(vehicle_system_id,
vehicle_component_id,
&msg, &gimbal_report);
chan0_status->current_tx_seq = saved_seq;
mav_socket.send(&msg.magic, len);
delta_velocity.zero();
delta_angle.zero();
}
}
void
Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID)
{
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (!should_transmit()) {
return;
}
pthread_mutex_lock(&_send_mutex);
unsigned buf_free = get_free_tx_buf();
uint8_t payload_len = mavlink_message_lengths[msgid];
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
_last_write_try_time = hrt_absolute_time();
/* check if there is space in the buffer, let it overflow else */
if (buf_free < packet_len) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
pthread_mutex_unlock(&_send_mutex);
return;
}
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
/* header */
buf[0] = MAVLINK_STX;
buf[1] = payload_len;
/* use mavlink's internal counter for the TX seq */
buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++;
buf[3] = mavlink_system.sysid;
buf[4] = (component_ID == 0) ? mavlink_system.compid : component_ID;
buf[5] = msgid;
/* payload */
memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], msg, payload_len);
/* checksum */
uint16_t checksum;
crc_init(&checksum);
crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
crc_accumulate(mavlink_message_crcs[msgid], &checksum);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
/* send message to UART */
ssize_t ret = write(_uart_fd, buf, packet_len);
if (ret != (int) packet_len) {
count_txerr();
count_txerrbytes(packet_len);
} else {
_last_write_success_time = _last_write_try_time;
count_txbytes(packet_len);
}
pthread_mutex_unlock(&_send_mutex);
}
/*
send a report to the vehicle control code over MAVLink
*/
void ADSB::send_report(void)
{
if (AP_HAL::millis() < 10000) {
// simulated aircraft don't appear until 10s after startup. This avoids a windows
// threading issue with non-blocking sockets and the initial wait on uartA
return;
}
if (!mavlink.connected && mav_socket.connect(target_address, target_port)) {
::printf("ADSB connected to %s:%u\n", target_address, (unsigned)target_port);
mavlink.connected = true;
}
if (!mavlink.connected) {
return;
}
// check for incoming MAVLink messages
uint8_t buf[100];
ssize_t ret;
while ((ret=mav_socket.recv(buf, sizeof(buf), 0)) > 0) {
for (uint8_t i=0; i<ret; i++) {
mavlink_message_t msg;
mavlink_status_t status;
if (mavlink_frame_char_buffer(&mavlink.rxmsg, &mavlink.status,
buf[i],
&msg, &status) == MAVLINK_FRAMING_OK) {
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: {
if (!seen_heartbeat) {
seen_heartbeat = true;
vehicle_component_id = msg.compid;
vehicle_system_id = msg.sysid;
::printf("ADSB using srcSystem %u\n", (unsigned)vehicle_system_id);
}
break;
}
}
}
}
}
if (!seen_heartbeat) {
return;
}
uint32_t now = AP_HAL::millis();
mavlink_message_t msg;
uint16_t len;
if (now - last_heartbeat_ms >= 1000) {
mavlink_heartbeat_t heartbeat;
heartbeat.type = MAV_TYPE_ADSB;
heartbeat.autopilot = MAV_AUTOPILOT_ARDUPILOTMEGA;
heartbeat.base_mode = 0;
heartbeat.system_status = 0;
heartbeat.mavlink_version = 0;
heartbeat.custom_mode = 0;
/*
save and restore sequence number for chan0, as it is used by
generated encode functions
*/
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_heartbeat_encode(vehicle_system_id,
vehicle_component_id,
&msg, &heartbeat);
chan0_status->current_tx_seq = saved_seq;
mav_socket.send(&msg.magic, len);
last_heartbeat_ms = now;
}
/*
send a ADSB_VEHICLE messages
*/
uint32_t now_us = AP_HAL::micros();
if (now_us - last_report_us >= reporting_period_ms*1000UL) {
for (uint8_t i=0; i<num_vehicles; i++) {
ADSB_Vehicle &vehicle = vehicles[i];
Location loc = home;
location_offset(loc, vehicle.position.x, vehicle.position.y);
// re-init when exceeding radius range
if (get_distance(home, loc) > _sitl->adsb_radius_m) {
vehicle.initialised = false;
}
mavlink_adsb_vehicle_t adsb_vehicle {};
last_report_us = now_us;
adsb_vehicle.ICAO_address = vehicle.ICAO_address;
adsb_vehicle.lat = loc.lat;
adsb_vehicle.lon = loc.lng;
adsb_vehicle.altitude_type = ADSB_ALTITUDE_TYPE_PRESSURE_QNH;
adsb_vehicle.altitude = -vehicle.position.z * 1000;
adsb_vehicle.heading = wrap_360_cd(100*degrees(atan2f(vehicle.velocity_ef.y, vehicle.velocity_ef.x)));
adsb_vehicle.hor_velocity = norm(vehicle.velocity_ef.x, vehicle.velocity_ef.y) * 100;
adsb_vehicle.ver_velocity = -vehicle.velocity_ef.z * 100;
memcpy(adsb_vehicle.callsign, vehicle.callsign, sizeof(adsb_vehicle.callsign));
adsb_vehicle.emitter_type = ADSB_EMITTER_TYPE_LARGE;
adsb_vehicle.tslc = 1;
adsb_vehicle.flags =
ADSB_FLAGS_VALID_COORDS |
ADSB_FLAGS_VALID_ALTITUDE |
ADSB_FLAGS_VALID_HEADING |
ADSB_FLAGS_VALID_VELOCITY |
ADSB_FLAGS_VALID_CALLSIGN |
ADSB_FLAGS_SIMULATED;
adsb_vehicle.squawk = 0; // NOTE: ADSB_FLAGS_VALID_SQUAWK bit is not set
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_adsb_vehicle_encode(vehicle_system_id,
MAV_COMP_ID_ADSB,
&msg, &adsb_vehicle);
chan0_status->current_tx_seq = saved_seq;
uint8_t msgbuf[len];
len = mavlink_msg_to_send_buffer(msgbuf, &msg);
if (len > 0) {
mav_socket.send(msgbuf, len);
}
}
}
// ADSB_transceiever is enabled, send the status report.
if (_sitl->adsb_tx && now - last_tx_report_ms > 1000) {
last_tx_report_ms = now;
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
uint8_t saved_flags = chan0_status->flags;
chan0_status->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
chan0_status->current_tx_seq = mavlink.seq;
const mavlink_uavionix_adsb_transceiver_health_report_t health_report = {UAVIONIX_ADSB_RF_HEALTH_OK};
len = mavlink_msg_uavionix_adsb_transceiver_health_report_encode(vehicle_system_id,
MAV_COMP_ID_ADSB,
&msg, &health_report);
chan0_status->current_tx_seq = saved_seq;
chan0_status->flags = saved_flags;
uint8_t msgbuf[len];
len = mavlink_msg_to_send_buffer(msgbuf, &msg);
if (len > 0) {
mav_socket.send(msgbuf, len);
::printf("ADSBsim send tx health packet\n");
}
}
}
/*
return true if the MAVLink parser is idle, so there is no partly parsed
MAVLink message being processed
*/
bool comm_is_idle(mavlink_channel_t chan)
{
mavlink_status_t *status = mavlink_get_channel_status(chan);
return status == NULL || status->parse_state <= MAVLINK_PARSE_STATE_IDLE;
}
int main(void)
{
mavlink_channel_t chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
#ifdef MAVLINK_SIGNING_FLAG_SIGN_OUTGOING
mavlink_status_t *status;
printf("Testing signing\n");
mavlink_signing_t signing;
mavlink_signing_streams_t signing_streams;
memset(&signing, 0, sizeof(signing));
memset(&signing_streams, 0, sizeof(signing_streams));
signing.flags = MAVLINK_SIGNING_FLAG_SIGN_OUTGOING;
signing.link_id = 0;
signing.timestamp = 1;
memset(signing.secret_key, 42, sizeof(signing.secret_key));
status = mavlink_get_channel_status(MAVLINK_COMM_1);
status->signing = &signing;
status->signing_streams = &signing_streams;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
#endif
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
status = mavlink_get_channel_status(MAVLINK_COMM_0);
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
status->signing = NULL;
status = mavlink_get_channel_status(MAVLINK_COMM_1);
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
status->signing = NULL;
printf("Testing sending as MAVLink1\n");
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
#endif
return 0;
}