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GCS_MAVLink: fix set-default-rate of a message we don't send by default #21947

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Oct 17, 2022
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GCS_MAVLink: fix set-default-rate of a message we don't send by default #21947

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7c4483d
GCS_MAVLink: fix set-default-rate of a message we don't send by default
peterbarker Oct 12, 2022
3442b67
autotest: test setting non-default-streamed message to default interval
peterbarker Oct 12, 2022
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7 changes: 4 additions & 3 deletions Tools/autotest/common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9269,7 +9269,7 @@ def test_set_message_interval_basic(self):
# this assumes the streamrates have not been played with:
self.test_rate("Resetting original rate using 0-value", 0, rate)
self.test_rate("Disabling using -1-value", -1, 0)
self.test_rate("Resetting original rate", rate, rate)
self.test_rate("Resetting original rate", 0, rate)

self.progress("try getting a message which is not ordinarily streamed out")
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 20))
Expand Down Expand Up @@ -9310,8 +9310,9 @@ def test_set_message_interval_basic(self):
self.print_exception_caught(e)
ex = e

self.progress("Resetting CAMERA_FEEDBACK rate to zero")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, -1)
self.progress("Resetting CAMERA_FEEDBACK rate to default rate")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_CAMERA_FEEDBACK, 0)
self.assert_message_rate_hz('CAMERA_FEEDBACK', 0)

if ex is not None:
raise ex
Expand Down
1 change: 0 additions & 1 deletion libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -749,7 +749,6 @@ class GCS_MAVLINK
// if true is returned, interval will contain the default interval for id
bool get_default_interval_for_ap_message(const ap_message id, uint16_t &interval) const;
// if true is returned, interval will contain the default interval for id
bool get_default_interval_for_mavlink_message_id(const uint32_t mavlink_message_id, uint16_t &interval) const;
// returns an interval in milliseconds for any ap_message in stream id
uint16_t get_interval_for_stream(GCS_MAVLINK::streams id) const;
// set an inverval for a specific mavlink message. Returns false
Expand Down
29 changes: 16 additions & 13 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -2659,11 +2659,24 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_comman

MAV_RESULT GCS_MAVLINK::set_message_interval(uint32_t msg_id, int32_t interval_us)
{
const ap_message id = mavlink_id_to_ap_message_id(msg_id);
if (id == MSG_LAST) {
gcs().send_text(MAV_SEVERITY_INFO, "No ap_message for mavlink id (%u)", (unsigned int)msg_id);
return MAV_RESULT_DENIED;
}

uint16_t interval_ms;
if (interval_us == 0) {
// zero is "reset to default rate"
if (!get_default_interval_for_mavlink_message_id(msg_id, interval_ms)) {
return MAV_RESULT_FAILED;
if (!get_default_interval_for_ap_message(id, interval_ms)) {
// if we don't have a default interval then we assume that
// we do not send that message by default. That may not
// be strictly true if some random piece of code has set a
// rate as part of its initialisation - in which case that
// piece of code should probably be adding something into
// whatever get_default_interval_for_ap_message is looking
// at.
interval_ms = 0;
}
} else if (interval_us == -1) {
// minus-one is "stop sending"
Expand All @@ -2676,7 +2689,7 @@ MAV_RESULT GCS_MAVLINK::set_message_interval(uint32_t msg_id, int32_t interval_u
} else {
interval_ms = interval_us / 1000;
}
if (set_mavlink_message_id_interval(msg_id, interval_ms)) {
if (set_ap_message_interval(id, interval_ms)) {
return MAV_RESULT_ACCEPTED;
}

Expand Down Expand Up @@ -6017,16 +6030,6 @@ bool GCS_MAVLINK::get_default_interval_for_ap_message(const ap_message id, uint1
return false;
}

bool GCS_MAVLINK::get_default_interval_for_mavlink_message_id(const uint32_t mavlink_message_id, uint16_t &interval) const
{
const ap_message id = mavlink_id_to_ap_message_id(mavlink_message_id);
if (id == MSG_LAST) {
return false;
}

return get_default_interval_for_ap_message(id, interval);
}

/*
correct an offboard timestamp in microseconds into a local timestamp
since boot in milliseconds. See the JitterCorrection code for details
Expand Down