void Mavlink::send_autopilot_capabilites()
{
struct vehicle_status_s status;
MavlinkOrbSubscription *status_sub = this->add_orb_subscription(ORB_ID(vehicle_status));
if (status_sub->update(&status)) {
mavlink_autopilot_version_t msg = {};
msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
msg.flight_sw_version = 0;
msg.middleware_sw_version = 0;
msg.os_sw_version = 0;
msg.board_version = 0;
memcpy(&msg.flight_custom_version, &px4_git_version_binary, sizeof(msg.flight_custom_version));
memcpy(&msg.middleware_custom_version, &px4_git_version_binary, sizeof(msg.middleware_custom_version));
memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
#ifdef CONFIG_CDCACM_VENDORID
msg.vendor_id = CONFIG_CDCACM_VENDORID;
#else
msg.vendor_id = 0;
#endif
#ifdef CONFIG_CDCACM_PRODUCTID
msg.product_id = CONFIG_CDCACM_PRODUCTID;
#else
msg.product_id = 0;
#endif
uint32_t uid[3];
mcu_unique_id(uid);
msg.uid = (((uint64_t)uid[1]) << 32) | uid[2];
this->send_message(MAVLINK_MSG_ID_AUTOPILOT_VERSION, &msg);
}
}
int ver_main(int argc, char *argv[])
{
/* defaults to an error */
int ret = 1;
/* first check if there are at least 2 params */
if (argc >= 2) {
if (argv[1] != NULL) {
if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
if (argc >= 3 && argv[2] != NULL) {
/* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */
ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
if (ret == 0) {
PX4_INFO("match: %s", HW_ARCH);
}
return ret;
} else {
warn("Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
return 1;
}
}
/* check if we want to show all */
bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str));
if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
printf("HW arch: %s\n", HW_ARCH);
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
printf("FW git-hash: %s\n", px4_git_version);
unsigned fwver = version_tag_to_number(px4_git_tag);
unsigned major = (fwver >> (8 * 3)) & 0xFF;
unsigned minor = (fwver >> (8 * 2)) & 0xFF;
unsigned patch = (fwver >> (8 * 1)) & 0xFF;
unsigned type = (fwver >> (8 * 0)) & 0xFF;
printf("FW version: %s (%u.%u.%u %u), %u\n", px4_git_tag, major, minor, patch,
type, fwver);
/* middleware is currently the same thing as firmware, so not printing yet */
printf("OS version: %s (%u)\n", os_git_tag, version_tag_to_number(os_git_tag));
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
printf("Build datetime: %s %s\n", __DATE__, __TIME__);
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
printf("Toolchain: %s\n", __VERSION__);
ret = 0;
}
if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
char rev;
char *revstr;
int chip_version = mcu_version(&rev, &revstr);
if (chip_version < 0) {
printf("UNKNOWN MCU\n");
} else {
printf("MCU: %s, rev. %c\n", revstr, rev);
if (chip_version < MCU_REV_STM32F4_REV_3) {
printf("\nWARNING WARNING WARNING!\n"
"Revision %c has a silicon errata\n"
"This device can only utilize a maximum of 1MB flash safely!\n"
"https://pixhawk.org/help/errata\n\n", rev);
}
}
ret = 0;
}
if (show_all || !strncmp(argv[1], mcu_uid_str, sizeof(mcu_uid_str))) {
uint32_t uid[3];
mcu_unique_id(uid);
printf("UID: %X:%X:%X \n", uid[0], uid[1], uid[2]);
ret = 0;
}
if (ret == 1) {
warn("unknown command.\n");
return 1;
}
} else {
int ver_main(int argc, char *argv[])
{
/* defaults to an error */
int ret = 1;
/* first check if there are at least 2 params */
if (argc >= 2) {
if (argv[1] != NULL) {
if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
if (argc >= 3 && argv[2] != NULL) {
/* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */
ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
if (ret == 0) {
printf("ver hwcmp match: %s\n", HW_ARCH);
}
return ret;
} else {
warn("Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
return 1;
}
}
/* check if we want to show all */
bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str));
if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
printf("HW arch: %s\n", HW_ARCH);
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
printf("FW git-hash: %s\n", px4_git_version);
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
printf("Build datetime: %s %s\n", __DATE__, __TIME__);
ret = 0;
}
if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
printf("Toolchain: %s\n", __VERSION__);
ret = 0;
}
if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
char rev;
char* revstr;
int chip_version = mcu_version(&rev, &revstr);
if (chip_version < 0) {
printf("UNKNOWN MCU\n");
} else {
printf("MCU: %s, rev. %c\n", revstr, rev);
if (chip_version < MCU_REV_STM32F4_REV_3) {
printf("\nWARNING WARNING WARNING!\n"
"Revision %c has a silicon errata\n"
"This device can only utilize a maximum of 1MB flash safely!\n"
"http://px4.io/help/errata\n\n", rev);
}
}
ret = 0;
}
if (show_all || !strncmp(argv[1], mcu_uid_str, sizeof(mcu_uid_str))) {
uint32_t uid[3];
mcu_unique_id(uid);
printf("UID: %X:%X:%X \n",uid[0],uid[1],uid[2]);
ret = 0;
}
if (ret == 1) {
warn("unknown command.\n");
return 1;
}
} else {
usage("Error, input parameter NULL.\n");
}
} else {
usage("Error, not enough parameters.");
}
return ret;
}
