GCS_Common: add support for sending COMPONENT_INFORMATION

ArduPilot · Jun 17, 2022 · 476d252 · 476d252
1 parent fee3ac5
commit 476d252
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diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -320,6 +320,8 @@ class GCS_MAVLINK
     void send_uavionix_adsb_out_status() const;
     void send_autopilot_state_for_gimbal_device() const;
 
+    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
@@ -917,6 +917,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_AIS_VESSEL,            MSG_AIS_VESSEL},
         { MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
         { MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE},
+        { MAVLINK_MSG_ID_COMPONENT_INFORMATION, MSG_COMPONENT_INFORMATION},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -5216,6 +5217,20 @@ void GCS_MAVLINK::send_received_message_deprecation_warning(const char * message
     last_deprecation_message = message;
 
     send_text(MAV_SEVERITY_WARNING, "Received message (%s) is deprecated", message);
+
+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)
@@ -5541,6 +5556,10 @@ 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;
 
     case MSG_UAVIONIX_ADSB_OUT_STATUS:
         CHECK_PAYLOAD_SIZE(UAVIONIX_ADSB_OUT_STATUS);

diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -82,5 +82,6 @@ enum ap_message : uint8_t {
     MSG_UAVIONIX_ADSB_OUT_STATUS,
     MSG_ATTITUDE_TARGET,
     MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE,
+    MSG_COMPONENT_INFORMATION,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };