Treat 3DR radio as generic link type

msg/telemetry_status.msg

@@ -1,9 +1,8 @@
 uint8 LINK_TYPE_GENERIC = 0
-uint8 LINK_TYPE_3DR_RADIO = 1
-uint8 LINK_TYPE_UBIQUITY_BULLET = 2
-uint8 LINK_TYPE_WIRE = 3
-uint8 LINK_TYPE_USB = 4
-uint8 LINK_TYPE_IRIDIUM	= 5
+uint8 LINK_TYPE_UBIQUITY_BULLET = 1
+uint8 LINK_TYPE_WIRE = 2
+uint8 LINK_TYPE_USB = 3
+uint8 LINK_TYPE_IRIDIUM	= 4
 
 # MAV_COMPONENT (fill in as needed)
 uint8 COMPONENT_ID_ALL		= 0

src/modules/mavlink/mavlink_main.cpp

@@ -1550,11 +1550,11 @@ void
 Mavlink::update_radio_status(const radio_status_s &radio_status)
 {
 	_rstatus = radio_status;
+	_radio_status_available = true;
 
 	if (_use_software_mav_throttling) {
 
 		/* check hardware limits */
-		_radio_status_available = true;
 		_radio_status_critical = (radio_status.txbuf < RADIO_BUFFER_LOW_PERCENTAGE);
 
 		if (radio_status.txbuf < RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE) {
@@ -2258,7 +2258,7 @@ Mavlink::task_main(int argc, char *argv[])
 #endif // CONFIG_NET
 		}
 
-		check_radio_config();
+		configure_3dr_radio();
 
 		if (status_sub->update(&status_time, &status)) {
 			/* switch HIL mode if required */
@@ -2608,11 +2608,10 @@ void Mavlink::publish_telemetry_status()
 	_telem_status_pub.publish(_tstatus);
 }
 
-void Mavlink::check_radio_config()
+void Mavlink::configure_3dr_radio()
 {
 	/* radio config check */
-	if (_uart_fd >= 0 && _param_mav_radio_id.get() != 0
-	    && _tstatus.type == telemetry_status_s::LINK_TYPE_3DR_RADIO) {
+	if (_uart_fd >= 0 && _param_3dr_radio_id.get() != 0) {
 		/* request to configure radio and radio is present */
 		FILE *fs = fdopen(_uart_fd, "w");
 
@@ -2655,8 +2654,8 @@ void Mavlink::check_radio_config()
 		}
 
 		/* reset param and save */
-		_param_mav_radio_id.set(0);
-		_param_mav_radio_id.commit_no_notification();
+		_param_3dr_radio_id.set(0);
+		_param_3dr_radio_id.commit_no_notification();
 	}
 }
 
@@ -2755,25 +2754,21 @@ Mavlink::display_status()
 
 		printf("\ttype:\t\t");
 
-		switch (_tstatus.type) {
-		case telemetry_status_s::LINK_TYPE_3DR_RADIO:
-			printf("3DR RADIO\n");
+		if (_radio_status_available) {
+			printf("RADIO Link\n");
 			printf("\t  rssi:\t\t%d\n", _rstatus.rssi);
 			printf("\t  remote rssi:\t%u\n", _rstatus.remote_rssi);
 			printf("\t  txbuf:\t%u\n", _rstatus.txbuf);
 			printf("\t  noise:\t%d\n", _rstatus.noise);
 			printf("\t  remote noise:\t%u\n", _rstatus.remote_noise);
 			printf("\t  rx errors:\t%u\n", _rstatus.rxerrors);
 			printf("\t  fixed:\t%u\n", _rstatus.fix);
-			break;
 
-		case telemetry_status_s::LINK_TYPE_USB:
+		} else if (_is_usb_uart) {
 			printf("USB CDC\n");
-			break;
 
-		default:
+		} else {
 			printf("GENERIC LINK OR RADIO\n");
-			break;
 		}
 
 	} else {

src/modules/mavlink/mavlink_main.h

@@ -663,7 +663,7 @@ class Mavlink : public ModuleParams
 		(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
 		(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
 		(ParamInt<px4::params::MAV_PROTO_VER>) _param_mav_proto_ver,
-		(ParamInt<px4::params::MAV_RADIO_ID>) _param_mav_radio_id,
+		(ParamInt<px4::params::MAV_3DR_RADIO_ID>) _param_3dr_radio_id,
 		(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
 		(ParamBool<px4::params::MAV_USEHILGPS>) _param_mav_usehilgps,
 		(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,
@@ -726,12 +726,12 @@ class Mavlink : public ModuleParams
 	void check_requested_subscriptions();
 
 	/**
-	 * Check the configuration of a connected radio
+	 * Reconfigure a 3DR radio if requested by MAV_3DR_RADIO_ID
 	 *
 	 * This convenience function allows to re-configure a connected
-	 * radio without removing it from the main system harness.
+	 * 3DR radio without removing it from the main system harness.
 	 */
-	void check_radio_config();
+	void configure_3dr_radio();
 
 	/**
 	 * Update rate mult so total bitrate will be equal to _datarate.

src/modules/mavlink/mavlink_params.c

@@ -59,18 +59,20 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 1);
 PARAM_DEFINE_INT32(MAV_PROTO_VER, 0);
 
 /**
- * MAVLink Radio ID
+ * MAVLink 3DR Radio ID
  *
  * When non-zero the MAVLink app will attempt to configure the
- * radio to this ID and re-set the parameter to 0. If the value
+ * 3DR radio to this ID and re-set the parameter to 0. If the value
  * is negative it will reset the complete radio config to
  * factory defaults.
  *
+ * @note Only applies if this mavlink instance is going through a 3DR radio
+ *
  * @group MAVLink
  * @min -1
  * @max 240
  */
-PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);
+PARAM_DEFINE_INT32(MAV_3DR_RADIO_ID, 0);
 
 /**
  * MAVLink airframe type