feat(mavlink): adopt the kaptan-native dialect

firmware/scripts/mavlink-debug.py

@@ -1,84 +0,0 @@
-#!/usr/bin/env python3
-"""Small MAVLink command-line debugger for a Kaptan flight controller."""
-
-import argparse
-import os
-import sys
-import time
-
-
-def parse_arguments():
-    parser = argparse.ArgumentParser(description=__doc__)
-    parser.add_argument("serial_device", help="serial device connected to the flight controller")
-    parser.add_argument("command", choices=("arm", "disarm", "read"))
-    parser.add_argument("--baud", type=int, default=115200, help="serial baud rate (default: 115200)")
-    parser.add_argument("--system-id", type=int, default=1, help="target MAVLink system ID (default: 1)")
-    parser.add_argument(
-        "--component-id", type=int, default=1, help="target MAVLink component ID (default: 1)"
-    )
-    return parser.parse_args()
-
-
-def print_messages(connection, timeout):
-    deadline = time.monotonic() + timeout
-    while time.monotonic() < deadline:
-        message = connection.recv_match(blocking=True, timeout=deadline - time.monotonic())
-        if message is None:
-            return None
-        print(message)
-        yield message
-
-
-def send_arm_command(connection, mavutil, arguments, armed):
-    for _ in range(3):
-        connection.mav.command_long_send(
-            arguments.system_id,
-            arguments.component_id,
-            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-            0,
-            1.0 if armed else 0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-        )
-        for message in print_messages(connection, timeout=1.0):
-            if (
-                message.get_type() == "COMMAND_ACK"
-                and message.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM
-            ):
-                return
-    action = "arm" if armed else "disarm"
-    raise SystemExit(f"timed out waiting for {action} acknowledgement")
-
-
-def read_messages(connection):
-    try:
-        while True:
-            message = connection.recv_match(blocking=True, timeout=1.0)
-            if message is not None:
-                print(message)
-    except KeyboardInterrupt:
-        pass
-
-
-def main():
-    arguments = parse_arguments()
-    # Kaptan currently accepts MAVLink 2 frames only.
-    os.environ["MAVLINK20"] = "1"
-    from pymavlink import mavutil
-
-    connection = mavutil.mavlink_connection(arguments.serial_device, baud=arguments.baud)
-    if arguments.command == "read":
-        read_messages(connection)
-    else:
-        send_arm_command(connection, mavutil, arguments, armed=arguments.command == "arm")
-
-
-if __name__ == "__main__":
-    try:
-        main()
-    except KeyboardInterrupt:
-        sys.exit(130)

firmware/scripts/report-test-coverage.sh

@@ -121,7 +121,7 @@ report_package kaptan-dma /libs/kaptan-dma/
 report_package kaptan-drivers /libs/kaptan-drivers/
 report_package kaptan-i2c /libs/kaptan-i2c/
 report_package kaptan-math /libs/kaptan-math/
-report_package kaptan-mavlink /libs/kaptan-mavlink/ --features dialect-kaptan
+report_package kaptan-mavlink /libs/kaptan-mavlink/ --features sensor-telemetry
 report_package kaptan-navigation /libs/kaptan-navigation/ --features sitl
 report_package kaptan-safety /libs/kaptan-safety/
 report_package kaptan-sensor /libs/kaptan-sensor/