GCS_MAVLink: add support for AIRSPEED message

ArduPilot · May 1, 2023 · 72c2709 · 72c2709
1 parent bd84a7c
commit 72c2709
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1034,6 +1034,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
 #endif
 #if HAL_ADSB_ENABLED
         { MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
+#endif
+#if AP_AIRSPEED_ENABLED
+        { MAVLINK_MSG_ID_AIRSPEED,                 MSG_AIRSPEED},
 #endif
             };
 
@@ -5753,6 +5756,17 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_scaled_pressure3();
         break;
 
+#if AP_AIRSPEED_ENABLED
+    case MSG_AIRSPEED:
+        {
+            AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
+            if (airspeed != nullptr) {
+                airspeed->send_mavlink_airspeed(*this);
+            }
+        }
+        break;
+#endif
+
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_servo_output_raw();

diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -84,5 +84,6 @@ enum ap_message : uint8_t {
     MSG_ATTITUDE_TARGET,
     MSG_HYGROMETER,
     MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE,
+    MSG_AIRSPEED,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };