GCS_Common: add support for sending COMPONENT_INFORMATION

ArduPilot · Sep 22, 2021 · 0f12834 · 0f12834
1 parent c45bdab
commit 0f12834
Show file tree

Hide file tree

Showing 3 changed files with 23 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -279,6 +279,8 @@ class GCS_MAVLINK
     void send_high_latency() const;
 #endif // HAL_HIGH_LATENCY2_ENABLED
 
+    void send_component_information() const;
+
     // lock a channel, preventing use by MAVLink
     void lock(bool _lock) {
         _locked = _lock;

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -876,6 +876,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_WATER_DEPTH,           MSG_WATER_DEPTH},
         { MAVLINK_MSG_ID_HIGH_LATENCY2,         MSG_HIGH_LATENCY2},
         { MAVLINK_MSG_ID_AIS_VESSEL,            MSG_AIS_VESSEL},
+        { MAVLINK_MSG_ID_COMPONENT_INFORMATION, MSG_COMPONENT_INFORMATION},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -4857,6 +4858,21 @@ void GCS_MAVLINK::send_water_depth() const
 #endif
 }
 
+void GCS_MAVLINK::send_component_information() const
+{
+    const char *general_metadata_url = "mftp:/@SYS/general_metadata.json";
+    const uint32_t general_metadata_checksum = 133761337;
+
+    mavlink_msg_component_information_send(
+        chan,
+        AP_HAL::millis(),
+        general_metadata_checksum,
+        general_metadata_url,
+        0,  // -1?
+        ""
+        );
+}
+
 bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 {
     bool ret = true;
@@ -5176,6 +5192,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 #endif // HAL_HIGH_LATENCY2_ENABLED
         break;
 
+    case MSG_COMPONENT_INFORMATION:
+        CHECK_PAYLOAD_SIZE(COMPONENT_INFORMATION);
+        send_component_information();
+        break;
 
     default:
         // try_send_message must always at some stage return true for

diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -80,5 +80,6 @@ enum ap_message : uint8_t {
     MSG_HIGH_LATENCY2,
     MSG_AIS_VESSEL,
     MSG_MCU_STATUS,
+    MSG_COMPONENT_INFORMATION,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };