GCS_MAVLink: add send_named_int function and Lua binding

ArduPilot · Jan 3, 2025 · b6a5f6a · b6a5f6a
1 parent 3b3ca88
commit b6a5f6a
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diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
@@ -121,6 +121,17 @@ void GCS::send_named_float(const char *name, float value) const
                                   (const char *)&packet);
 }
 
+void GCS::send_named_int(const char *name, int32_t value) const
+{
+    mavlink_named_value_int_t packet {};
+    packet.time_boot_ms = AP_HAL::millis();
+    packet.value = value;
+    memcpy(packet.name, name, MIN(strlen(name), (uint8_t)MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN));
+
+    gcs().send_to_active_channels(MAVLINK_MSG_ID_NAMED_VALUE_INT,
+                                  (const char *)&packet);
+}
+
 #if HAL_HIGH_LATENCY2_ENABLED
 void GCS::enable_high_latency_connections(bool enabled)
 {

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -388,6 +388,7 @@ class GCS_MAVLINK
     void send_gimbal_manager_information() const;
     void send_gimbal_manager_status() const;
     void send_named_float(const char *name, float value) const;
+    void send_named_int(const char *name, int32_t value) const;
     void send_home_position() const;
     void send_gps_global_origin() const;
     virtual void send_attitude_target() {};
@@ -1215,6 +1216,7 @@ class GCS
     void send_message(enum ap_message id);
     void send_mission_item_reached_message(uint16_t mission_index);
     void send_named_float(const char *name, float value) const;
+    void send_named_int(const char *name, int32_t value) const;
 
     void send_parameter_value(const char *param_name,
                               ap_var_type param_type,

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3024,6 +3024,13 @@ void GCS_MAVLINK::send_named_float(const char *name, float value) const
     mavlink_msg_named_value_float_send(chan, AP_HAL::millis(), float_name, value);
 }
 
+void GCS_MAVLINK::send_named_int(const char *name, int32_t value) const
+{
+    char int_name[MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN+1] {};
+    strncpy(int_name, name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
+    mavlink_msg_named_value_int_send(chan, AP_HAL::millis(), int_name, value);
+}
+
 #if AP_AHRS_ENABLED
 void GCS_MAVLINK::send_home_position() const
 {