AP_Scripting: DJI mount debug -- do not merge

rmackay9 · Dec 4, 2023 · 85e2a52 · 85e2a52
1 parent 5c7fc34
commit 85e2a52
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
@@ -657,6 +657,9 @@ function parse_byte(b)
 
           -- parse attitude reply message
           if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= ATTITUDE_PACKET_LEN.LEGACY) then
+            if DJIR_DEBUG:get() > 0 then
+              gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: att len:%d", parse_length))
+            end
             -- default to legacy format but also handle latest format
             local ret_code_field = 13
             local yaw_field = 15
@@ -688,6 +691,9 @@ function parse_byte(b)
 
           -- parse position control reply message
           if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= POSITION_CONTROL_PACKET_LEN.LEGACY) then
+            if DJIR_DEBUG:get() > 0 then
+              gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: poscontrol len:%d", parse_length))
+            end
             -- default to legacy format but also handle latest format
             local ret_code_field = 13
             if (parse_length >= POSITION_CONTROL_PACKET_LEN.LATEST) then
@@ -701,6 +707,9 @@ function parse_byte(b)
 
           -- parse speed control reply message
           if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= SPEED_CONTROL_PACKET_LEN.LEGACY) then
+            if DJIR_DEBUG:get() > 0 then
+              gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: speedcontrol len:%d", parse_length))
+            end
             -- default to legacy format but also handle latest format
             local ret_code_field = 13
             if (parse_length >= SPEED_CONTROL_PACKET_LEN.LATEST) then