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chat: use vehicle's mavlink sysid #1292

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chat: use vehicle's mavlink sysid #1292

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3 changes: 3 additions & 0 deletions MAVProxy/modules/mavproxy_chat/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,9 @@ def show(self):

# handle mavlink packet
def mavlink_packet(self, m):
# ignore messages that are not from our vehicle
if m.get_srcSystem() != self.mpstate.settings.target_system:
return
if m.get_type() == 'COMMAND_ACK':
self.handle_command_ack(m)

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36 changes: 20 additions & 16 deletions MAVProxy/modules/mavproxy_chat/chat_openai.py
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,7 @@ def get_formatted_date(self):
# get vehicle vehicle type (e.g. "Copter", "Plane", "Rover", "Boat", etc)
def get_vehicle_type(self):
# get vehicle type from latest HEARTBEAT message
hearbeat_msg = self.mpstate.master().messages.get('HEARTBEAT', None)
hearbeat_msg = self.mpstate.master(self.mpstate.settings.target_system).messages.get('HEARTBEAT', None)
vehicle_type_str = "unknown"
if hearbeat_msg is not None:
if hearbeat_msg.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING,
Expand Down Expand Up @@ -390,12 +390,13 @@ def get_mode_mapping(self, arguments):
mode_number = int(mode_number)

# check mode mapping is available
if self.mpstate.master() is None or self.mpstate.master().mode_mapping() is None:
vehicle_sysid = self.mpstate.settings.target_system
if self.mpstate.master(vehicle_sysid) is None or self.mpstate.master(vehicle_sysid).mode_mapping() is None:
return "get_mode_mapping: failed to retrieve mode mapping"

# prepare list of modes
mode_list = []
mode_mapping = self.mpstate.master().mode_mapping()
mode_mapping = self.mpstate.master(vehicle_sysid).mode_mapping()

# handle request for all modes
if mode_name is None and mode_number is None:
Expand Down Expand Up @@ -424,15 +425,15 @@ def get_mode_mapping(self, arguments):

# get vehicle state including armed, mode
def get_vehicle_state(self):
# get mode from latest HEARTBEAT message
hearbeat_msg = self.mpstate.master().messages.get('HEARTBEAT', None)
if hearbeat_msg is None:
vehicle_sysid = self.mpstate.settings.target_system
heartbeat_msg = self.mpstate.master(vehicle_sysid).messages.get('HEARTBEAT', None)
if heartbeat_msg is None:
mode_number = 0
print ("chat: get_vehicle_state: vehicle mode is unknown")
else:
mode_number = hearbeat_msg.custom_mode
mode_number = heartbeat_msg.custom_mode
return {
"armed": (self.mpstate.master().motors_armed() > 0),
"armed": (self.mpstate.master(vehicle_sysid).motors_armed() > 0),
"mode": mode_number
}

Expand All @@ -443,7 +444,7 @@ def get_vehicle_location_and_yaw(self):
alt_amsl_m = 0
alt_rel_m = 0
yaw_deg = 0
gpi = self.mpstate.master().messages.get('GLOBAL_POSITION_INT', None)
gpi = self.mpstate.master(self.mpstate.settings.target_system).messages.get('GLOBAL_POSITION_INT', None)
if gpi:
lat_deg = gpi.lat * 1e-7,
lon_deg = gpi.lon * 1e-7,
Expand Down Expand Up @@ -475,7 +476,8 @@ def get_location_plus_offset(self, arguments):

# send a mavlink command_int message to the vehicle
def send_mavlink_command_int(self, arguments):
target_system = arguments.get("target_system", 1)
vehicle_sysid = self.mpstate.settings.target_system
target_system = arguments.get("target_system", vehicle_sysid)
target_component = arguments.get("target_component", 1)
frame = arguments.get("frame", 0)
if ("command" not in arguments):
Expand All @@ -490,7 +492,7 @@ def send_mavlink_command_int(self, arguments):
x = arguments.get("x", 0)
y = arguments.get("y", 0)
z = arguments.get("z", 0)
self.mpstate.master().mav.command_int_send(target_system, target_component, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
self.mpstate.master(vehicle_sysid).mav.command_int_send(target_system, target_component, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)

# wait for command ack
mav_result = self.wait_for_command_ack_fn(command)
Expand Down Expand Up @@ -518,8 +520,9 @@ def send_mavlink_command_int(self, arguments):
def send_mavlink_set_position_target_global_int(self, arguments):
if arguments is None:
return "send_mavlink_set_position_target_global_int: arguments is None"
vehicle_sysid = self.mpstate.settings.target_system
time_boot_ms = arguments.get("time_boot_ms", 0)
target_system = arguments.get("target_system", 1)
target_system = arguments.get("target_system", vehicle_sysid)
target_component = arguments.get("target_component", 1)
coordinate_frame = arguments.get("coordinate_frame", 5)
type_mask = arguments.get("type_mask", 0)
Expand All @@ -534,18 +537,19 @@ def send_mavlink_set_position_target_global_int(self, arguments):
afz = arguments.get("afz", 0)
yaw = arguments.get("yaw", 0)
yaw_rate = arguments.get("yaw_rate", 0)
self.mpstate.master().mav.set_position_target_global_int_send(time_boot_ms, target_system, target_component, coordinate_frame, type_mask, lat_int, lon_int, alt, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)
self.mpstate.master(vehicle_sysid).mav.set_position_target_global_int_send(time_boot_ms, target_system, target_component, coordinate_frame, type_mask, lat_int, lon_int, alt, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)
return "set_position_target_global_int sent"

# get a list of mavlink message names that can be retrieved using the get_mavlink_message function
def get_available_mavlink_messages(self):
# check if no messages available
if self.mpstate.master().messages is None or len(self.mpstate.master().messages) == 0:
vehicle_sysid = self.mpstate.settings.target_system
if self.mpstate.master(vehicle_sysid).messages is None or len(self.mpstate.master(vehicle_sysid).messages) == 0:
return "get_available_mavlink_messages: no messages available"

# retrieve each available message's name
mav_msg_names = []
for msg in self.mpstate.master().messages:
for msg in self.mpstate.master(vehicle_sysid).messages:
# append all message names except MAV
if msg != "MAV":
mav_msg_names.append(msg)
Expand All @@ -567,7 +571,7 @@ def get_mavlink_message(self, arguments):
return "get_mavlink_message: message not specified"

# retrieve message
mav_msg = self.mpstate.master().messages.get(mav_msg_name, None)
mav_msg = self.mpstate.master(self.mpstate.settings.target_system).messages.get(mav_msg_name, None)
if mav_msg is None:
return "get_mavlink_message: message not found"

Expand Down