ArduPilot/ardupilot

MAVlink library prevents OSD from receiving RSSI from 3DR modems

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#5,275 opened on 2016年11月25日

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EnhancementLibraryMAVLinkgood first issue

説明

Issue details

file https://github.com/ArduPilot/ardupilot/blob/master/libraries/GCS_MAVLink/MAVLink_routing.cpp

lines starting 103

if (msg->msgid == MAVLINK_MSG_ID_RADIO ||
        msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
        // don't forward RADIO packets
        return true;
    }

this code fully filters out MAVLINK_MSG_ID_RADIO_STATUS and MAVLINK_MSG_ID_RADIO messages so no one module (and OSD too) can't see RSSI from 3DR modems.

So in Copter 3.1 3DR RSSI is working, and definitely not working on Copter 3.3/3.4. All OSD users logically consider that it is problem of OSD itself

This messages should be filtered out only on port from which they are comes, and be routed to all another MAVlink ports. Or even better to route this message to all ports and filter them out in 3DR modem firmware.

コントリビューターガイド

技術スタック
cpp
領域
backendapi
Issue 種別
bug
難度新しい貢献者にとっての実装難度です。1 は非常に小さな変更、5 は専門的な作業です。
2
推定時間経験ある貢献者が調査、実装、テスト、pull request 準備にかけるおおよその時間範囲です。
1-3 hours
活動状況Issue が今どれだけ取り組みやすいかを示します。新しい、活発、古い、ブロック中、またはメンテナー入力待ちなどです。
stale
明確さ期待される変更、受け入れ条件、次の手順がどれだけ明確かを示します。
clear
前提条件
C++ basicsMAVLink protocolArduPilot build setup
初心者向け度初回貢献者にどれだけ取り組みやすいかを 1-100 で推定したスコアです。
70
調査方針
The issue is in MAVLink routing.cpp at line 103, where RADIO and RADIO STATUS messages are fully filtered out. The fix should either forward these messages to all other MAVLink ports or filter them only on the incoming port. A newcomer should study the routing logic in that file and implement a change that allows these messages to reach other modules like OSD while maintaining appropriate filtering on the modem port.