GCS_MAVLink: add support for MAV_CMD_EKF_SOURCE_SET #18345
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rmackay9
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Note that you could already trigger these using It would be great if we could get a MissionPlanner interface element that allowed triggering axillary functions with |
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just needs the mavlink shuffle for submodule |
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rebased on master so we can merge once it has passed CI |
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I've rebased this on PR #18317 so that it can pass CI |
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Two commits added to pad the battery status and command_ack messages with zeros. |
this allows external systems to set the active EKF source set
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This adds support for the new MAV_CMD_EKF_SOURCE_SET command that allows external systems to set the active EKF sensor source set.
This has been tested in SITL and works. I think the only question is whether we want the mavlink command to accept the source set in the range 1 to 3 (to match the parameters) or 0 to 2 (to match the ahrs interface). Currently it is implemented in the 1 to 3 range.
MAVLink PR ArduPilot/mavlink#220 should be merged first.
This resolves the "add support for switching source via MAVLink" item in issue #15859
Below is a screen shot of the SITL test with some extra debug added.
