Add support for generic payloads #3
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- Add `MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL`, `GENERIC_PAYLOAD_STATUS`,`GENERIC_PAYLOAD_FUNCTION_STATUS`, and `GENERIC_PAYLOAD_ERROR_FLAGS` to development.xml `GENERIC_PAYLOAD_STATUS` is the status for the generic payload, and `GENERIC_PAYLOAD_FUNCTION_STATUS` is the status for individual function(s) of the generic payload that can be controlled via `MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL`. `MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL` is used to control payload functions. It can be used for simple control such as ON/OFF of a flashlight. It can also be used to control multiple functions of a component such as arm/disarm and deployment of a parachute. Topic: generic_payload
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| <message id="398" name="GENERIC_PAYLOAD_STATUS"> | ||
| <description>Generic payload status.</description> | ||
| <field type="uint32_t" name="uptime_ms" units="ms">Time since the start-up of the generic payload in ms</field> | ||
| <field type="char[32]" name="name">Generic payload name to be used in UI. This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, a generic name is shown to the user.</field> |
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"If it is exactly 32 characters long, add a terminating NULL" is confusing. imo it's clearer to say something like "stores null terminated string if less than 32 characters, or 32 characters without null termination." Similarly to the language used elsewhere in this file
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I think this was copied from existing example STORAGE_TYPE enum
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Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
from STORAGE_INFORMATION
it is a bit weirdly worded though. because it sounds like they want 33bytes for a string that is exactly 32chars long.. but that would not work in the packing. unless oddly the packing doesn't check the length but simply looks for a null character, and then verifies the length afterwards
| @@ -339,6 +339,11 @@ | |||
| <param index="6" reserved="true" default="0"/> | |||
| <param index="7" reserved="true" default="NaN"/> | |||
| </entry> | |||
| <entry value="404" name="MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL" hasLocation="false" isDestination="false"> | |||
| <description>Allows for enable/disable control over function(s) of a generic payload.</description> | |||
| <param index="1" label="Index" minValue="0" increment="1">Index of Function</param> | |||
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Should there also be a maxValue of 65535? function_count is a uint16_t
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Good point! Parameters are sent as float and could have a value bigger than 65535
| <field type="char[32]" name="name">Generic payload function name to be used in UI. This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, a generic name is shown to the user.</field> | ||
| <field type="uint16_t" name="index">Index of this function on the generic payload.</field> | ||
| <field type="uint8_t" name="enable">0: Disable, 1: Enable</field> | ||
| <field type="uint16_t" name="function_count">Total number of functions on the generic payload that can be controlled.</field> |
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Do we need this in both messages?
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@vivian-zhou-skydio what was the reasoning here, i feel like I had convinced myself it was useful
| <field type="uint32_t" name="error_flags" enum="GENERIC_PAYLOAD_ERROR_FLAGS" display="bitmask">Errors</field> | ||
| <field type="uint32_t" name="custom_error_flags" display="bitmask">Bitmap used to show custom error flags.</field> | ||
| <field type="float" name="power_draw" units="W" invalid="NaN">The power draw of the generic payload. NaN: field not provided</field> | ||
| <field type="uint16_t" name="weight" units="g" invalid="0">Generic payload weight. 0: field not provided.</field> |
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Is this expected to change dynamically for things like droppers? If not, should this then reflect the max weight of the payload?
| <field type="float" name="temp_c" invalid="NaN">Temperature in Celsius. NaN: field not provided.</field> | ||
| </message> | ||
| <message id="399" name="GENERIC_PAYLOAD_FUNCTION_STATUS"> | ||
| <description>Generic payload function status.</description> |
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| <description>Generic payload function status.</description> | |
| <description>Generic payload function status. Use [MAV_CMD_REQUEST_MESSAGE](https://mavlink.io/en/messages/common.html#MAV_CMD_REQUEST_MESSAGE).param2 to indicate the index/id of requested function: 0 for all, 1 for first, 2 for second, etc.</description> |
MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL,GENERIC_PAYLOAD_STATUS,GENERIC_PAYLOAD_FUNCTION_STATUS, andGENERIC_PAYLOAD_ERROR_FLAGSto development.xmlGENERIC_PAYLOAD_STATUSis the status for the generic payload, andGENERIC_PAYLOAD_FUNCTION_STATUSis the status for individual function(s) of the generic payload that can be controlled viaMAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL.MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROLis used to control payload functions. It can be used for simple control such as ON/OFF of a flashlight. It can also be used to control multiple functions of a component such as arm/disarm and deployment of a parachute.Topic: generic_payload