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Correct send_to_components #12576

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merged 4 commits into from Nov 26, 2019
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peterbarker commented Oct 17, 2019

Attempts to solve a problem where component messages aren't send with the correct wire protocol.

Tested only as far as "it compiles".

Hopefully closes #12567

This may cause vehicles to explode and/or turn into small mounds of granulated gelatin. It's unlikely, however.

@peterbarker peterbarker changed the title Correct send_to_channels Correct send_to_components Oct 18, 2019
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rmackay9 commented Oct 23, 2019

I've tested with the Drotag and found that sadly this doesn't make the Drotag geotagger work. That doesn't mean that there is anything wrong with this PR however, it may still be some other issue within the Drotag.

@peterbarker peterbarker force-pushed the peterbarker:wip/correct-send-to-channels branch from a50b253 to 871305b Oct 24, 2019
@peterbarker peterbarker removed the WIP label Oct 24, 2019
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pklapperich commented Nov 4, 2019

@peterbarker I'm not sure if you saw, but I left a comment over on #12567 after testing this. It definitely fixed the problem I had. It also seems to add automatic mavlink version detection (my mavlink1 only camera works whether I configure the serial port in ArduCopter to Mavlink1 or Mavlink2). If that's intentional, then I think it's good.

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peterbarker commented Nov 4, 2019

@pklapperich thanks for the testing report, glad it worked :-)

Marked as devcall to see if we can merge it today.

@CraigElder CraigElder removed the DevCallTopic label Nov 5, 2019
*/
void send_to_components(const mavlink_message_t &msg);
void send_to_components(uint32_t msgid, const char *pkt);

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tridge Nov 5, 2019

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I'd like a length arg, and chec

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peterbarker Nov 10, 2019

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I've added a an assert in SITL and we pass through the smaller of the passed packet length and the maximum message length.

@peterbarker peterbarker force-pushed the peterbarker:wip/correct-send-to-channels branch from 871305b to 355dfb6 Nov 10, 2019
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rmackay9 commented Nov 11, 2019

Another one for @tridge to confirm he is happy with before we merge

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tridge approved these changes Nov 26, 2019
@tridge tridge merged commit 4d628c2 into ArduPilot:master Nov 26, 2019
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@peterbarker peterbarker deleted the peterbarker:wip/correct-send-to-channels branch Nov 26, 2019
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rmackay9 commented Dec 16, 2019

this has been added to Copter-4.0.0-rc3

@rmackay9 rmackay9 moved this from PRs to 4.0.0-rc3 in Copter 4.0 backports Dec 16, 2019
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