/*
send AUTOPILOT_VERSION packet
*/
void GCS_MAVLINK::send_autopilot_version(uint8_t major_version, uint8_t minor_version, uint8_t patch_version, uint8_t version_type) const
{
uint32_t flight_sw_version = 0;
uint32_t middleware_sw_version = 0;
uint32_t os_sw_version = 0;
uint32_t board_version = 0;
uint8_t flight_custom_version[8];
uint8_t middleware_custom_version[8];
uint8_t os_custom_version[8];
uint16_t vendor_id = 0;
uint16_t product_id = 0;
uint64_t uid = 0;
flight_sw_version = major_version << (8*3) | \
minor_version << (8*2) | \
patch_version << (8*1) | \
version_type << (8*0);
#if defined(GIT_VERSION)
strncpy((char *)flight_custom_version, GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(PX4_GIT_VERSION)
strncpy((char *)middleware_custom_version, PX4_GIT_VERSION, 8);
#elif defined(VRBRAIN_GIT_VERSION)
strncpy((char *)middleware_custom_version, VRBRAIN_GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(NUTTX_GIT_VERSION)
strncpy((char *)os_custom_version, NUTTX_GIT_VERSION, 8);
#else
memset(os_custom_version,0,8);
#endif
mavlink_msg_autopilot_version_send(
chan,
hal.util->get_capabilities(),
flight_sw_version,
middleware_sw_version,
os_sw_version,
board_version,
flight_custom_version,
middleware_custom_version,
os_custom_version,
vendor_id,
product_id,
uid
);
}
/*
send AUTOPILOT_VERSION packet
*/
void GCS_MAVLINK::send_autopilot_version(void) const
{
uint16_t capabilities = 0;
uint32_t flight_sw_version = 0;
uint32_t middleware_sw_version = 0;
uint32_t os_sw_version = 0;
uint32_t board_version = 0;
uint8_t flight_custom_version[8];
uint8_t middleware_custom_version[8];
uint8_t os_custom_version[8];
uint16_t vendor_id = 0;
uint16_t product_id = 0;
uint64_t uid = 0;
#if defined(GIT_VERSION)
strncpy((char *)flight_custom_version, GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(PX4_GIT_VERSION)
strncpy((char *)middleware_custom_version, PX4_GIT_VERSION, 8);
#else
memset(middleware_custom_version,0,8);
#endif
#if defined(NUTTX_GIT_VERSION)
strncpy((char *)os_custom_version, NUTTX_GIT_VERSION, 8);
#else
memset(os_custom_version,0,8);
#endif
mavlink_msg_autopilot_version_send(
chan,
capabilities,
flight_sw_version,
middleware_sw_version,
os_sw_version,
board_version,
flight_custom_version,
middleware_custom_version,
os_custom_version,
vendor_id,
product_id,
uid
);
}
static void mavlink_send_autopilot_version(struct transport_tx *trans, struct link_device *dev)
{
/// TODO: fill in versions correctly, how should they be encoded?
static uint32_t ver = PPRZ_VERSION_INT;
static uint64_t sha;
get_pprz_git_version((uint8_t *)&sha);
mavlink_msg_autopilot_version_send(MAVLINK_COMM_0,
0, //uint64_t capabilities,
ver, //uint32_t flight_sw_version,
0, //uint32_t middleware_sw_version,
0, //uint32_t os_sw_version,
0, //uint32_t board_version,
0, //const uint8_t *flight_custom_version,
0, //const uint8_t *middleware_custom_version,
0, //const uint8_t *os_custom_version,
0, //uint16_t vendor_id,
0, //uint16_t product_id,
sha //uint64_t uid
);
MAVLinkSendMessage();
}