Telemetry and TelemetryServer improvements #2504
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jonathanreeves
commented
Feb 5, 2025
added 6 commits
February 11, 2025 21:01
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Note: rebased on #2508, including change of merge target (will auto update to main after that PR merges). Also re-tested with our own vehicle sim, all looks good. |
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@julianoes did this get closed automatically because the |
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Updated PR here: #2511 |
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Overview
This PR does 3 things:
FixedwingMetricstelemetry object to include all fields that show up in the MAVLINK VFR_HUD message. The telemetry client handles the VFR_HUD message currently, translating it to aFixedwingMetricsstruct, but it only takes half the fields. This PR fills out the rest of the fields so the full message is available.TelemetryServerTelemetryServer. Note that the client already supports handling this message.Testing Done
Tested with a VTOL aircraft using MAVSDK as an autopilot, sending telemetry to QGroundControl. VFR and attitude messages are used to update the instrument panels and virtual horizon display. Hover taxi video here:
QGC-flight-smaller2.mp4
Notes and Caveats
There is a corresponding Proto PR based on Proto:main here: mavlink/MAVSDK-Proto#364
Unfortunately I am unable to get proto main to build against MAVSDK main, and I haven't had a chance to look into it. MAVSDK
mainis pinned to the proto submodule revision9a871c7b4ec53a753e9fc46e950c4433dc2d6bf7, which works fine, so I branched proto from this revision for my own testing. That is the branch that is being used in this PR currently.