Comply with autopilot's firmware update

Included changes are required to use the autopilot's version complatible with
mavlink 2

include/mavsdk_wrapper.h

@@ -21,7 +21,7 @@ extern "C" {
 #include <stdint.h>
 // Connexion management functions
 int mavsdk_start(const char * ip, int port, const char * log_file, int timeout);
-int mavsdk_stop(void);
+int mavsdk_stop(bool shutdown);
 int mavsdk_reboot(void);
 
 // Flight state management functions
@@ -50,7 +50,6 @@ float mavsdk_getYaw(void);
 float mavsdk_getSpeed(void);
 float mavsdk_getClimbRate(void);
 int mavsdk_healthAllOk(void);
-int mavsdk_landed(void);
 #ifdef __cplusplus
 }
 #endif

mavsdk_wrapper.cpp

@@ -172,22 +172,23 @@ int mavsdk_start(const char * ip, int port, const char * log_file, int timeout)
     return 0;
 }
 
-int mavsdk_stop() {
+int mavsdk_stop(bool shutdown) {
     if (!mavsdk_started)
         return -1;
-    
-    if (!mavsdk_landed()) {
-      log_error("You must land first !");
-      return -1;
-    }
 
-    if (doAction(&Action::shutdown, "Shutdown failed"))
-        return -1;
+    if (shutdown) {
+        while (telemetry->armed())
+            sleep_for(seconds(1));
+        if (doAction(&Action::shutdown, "Shutdown failed"))
+            return -1;
+    }
 
     // Delete pointers
     delete action;
     delete mavlink_passthrough;
     delete telemetry;
+
+    log_file_fd << std::flush;
     log_file_fd.close();
 
     return 0;
@@ -227,7 +228,8 @@ int mavsdk_takeOffAndWait(void) {
         sleep_for(seconds(1));
     while (telemetry->flight_mode() == Telemetry::FlightMode::Takeoff)
         sleep_for(seconds(1));
-    return 0;
+
+    return doAction(&Action::transition_to_fixedwing, "Transition to fixedwing failed");
 }
 
 int mavsdk_triggerParachute(void) {
@@ -236,26 +238,11 @@ int mavsdk_triggerParachute(void) {
 
     log("Landing...");
     MavlinkPassthrough::CommandLong command;
-    command.command = MAV_CMD_DO_PARACHUTE;
-    command.param1 = 2; //see https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION
+    command.command = MAV_CMD_DO_FLIGHTTERMINATION;
+    command.param1 = 1; //see https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION
     command.target_sysid = mavlink_passthrough->get_target_sysid();
     command.target_compid = mavlink_passthrough->get_target_compid();
-    if (doMavlinkCommand(command, "Parachute release failed"))
-        return -1;
-
-    // Check if vehicule is still in air
-    while (telemetry->in_air()) {
-	      log("Vehicle is landing...");
-        sleep_for(seconds(1));
-    }
-    log("Landed!");
-
-    while (telemetry->armed())
-        sleep_for(seconds(1));
-    log("Finished...");
-    log_file_fd << std::flush;
-
-    return 0;
+    return doMavlinkCommand(command, "Parachute release failed");
 }
 
 // Flight management functions
@@ -435,7 +422,3 @@ float mavsdk_getClimbRate(void) {
 int mavsdk_healthAllOk(void) {
     return telemetry->health_all_ok();
 }
-
-int mavsdk_landed(void) {
-    return !telemetry->in_air();
-}

qjs_wrapper.c

@@ -428,7 +428,7 @@ static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
 static JSValue js_mavsdk_stop(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_stop());
+    return JS_NewInt32(ctx, mavsdk_stop(JS_ToBool(ctx, argv[0])));
 }
 
 static JSValue js_mavsdk_reboot(JSContext *ctx, JSValueConst thisVal,
@@ -584,18 +584,12 @@ static JSValue js_mavsdk_healthAllOk(JSContext *ctx, JSValueConst this_val,
     return JS_NewBool(ctx, mavsdk_healthAllOk());
 }
 
-static JSValue js_mavsdk_landed(JSContext *ctx, JSValueConst this_val,
-                                int argc, JSValueConst *argv)
-{
-    return JS_NewBool(ctx, mavsdk_landed());
-}
-
 static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
     JS_CFUNC_DEF("start", 4, js_mavsdk_start ),
-    JS_CFUNC_DEF("stop", 0, js_mavsdk_stop ),
+    JS_CFUNC_DEF("stop", 1, js_mavsdk_stop ),
     JS_CFUNC_DEF("reboot", 0, js_mavsdk_reboot ),
     JS_CFUNC_DEF("arm", 0, js_mavsdk_arm ),
     JS_CFUNC_DEF("takeOff", 0, js_mavsdk_takeOff ),
@@ -616,7 +610,6 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("getAirspeed", 0, js_mavsdk_getSpeed ),
     JS_CFUNC_DEF("getClimbRate", 0, js_mavsdk_getClimbRate ),
     JS_CFUNC_DEF("healthAllOk", 0, js_mavsdk_healthAllOk ),
-    JS_CFUNC_DEF("landed", 0, js_mavsdk_landed ),
     JS_CFUNC_DEF("initPubsub", 1, js_init_pubsub ),
 };