MavLink Node added

UniStuttgart-INS · Oct 4, 2024 · 331139e · 331139e
1 parent 41a64e4
commit 331139e
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diff --git a/.gitmodules b/.gitmodules
@@ -22,6 +22,9 @@
 [submodule "lib/implot"]
 	path = lib/implot
 	url = https://github.com/niavok/implot.git
+[submodule "lib/mavlink/mavlink"]
+	path = lib/mavlink/mavlink
+	url = https://github.com/mavlink/c_library_v2.git
 [submodule "doc/doxygen-awesome-css"]
 	path = doc/doxygen-awesome-css
 	url = https://github.com/jothepro/doxygen-awesome-css.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -254,6 +254,10 @@ set_target_properties(libUartSensor PROPERTIES CXX_CPPCHECK "")
 
 include_directories(SYSTEM lib/gcem/include)
 
+# ------------------------------------------------ MavLink ----------------------------------------------- */
+
+include_directories(SYSTEM lib/mavlink)
+
 # ######################################################################################################################
 # Installed Packages
 # ######################################################################################################################

diff --git a/lib/mavlink/mavlink b/lib/mavlink/mavlink
diff --git a/src/NodeRegistry.cpp b/src/NodeRegistry.cpp
@@ -181,6 +181,7 @@ std::vector<std::string> NAV::NodeRegistry::GetParentNodeDataTypes(const std::st
 #include "Nodes/Converter/GNSS/UbloxGnssOrbitCollector.hpp"
 #include "Nodes/Converter/IMU/VectorNavBinaryConverter.hpp"
 // Data Link
+#include "Nodes/DataLink/mavlinkSend.hpp"
 #include "Nodes/DataLink/udpSend.hpp"
 #include "Nodes/DataLink/udpRecv.hpp"
 // Data Logger
@@ -248,6 +249,7 @@ void NAV::NodeRegistry::RegisterNodeTypes()
     registerNodeType<UbloxGnssOrbitCollector>();
     registerNodeType<VectorNavBinaryConverter>();
     // Data Link
+    registerNodeType<MavlinkSend>();
     registerNodeType<UdpSend>();
     registerNodeType<UdpRecv>();
     // Data Logger