[WIP] Telemetry status: report type and ID of remote system

[jlecoeur]

This PR adds infos about remote MAVLink systems into the topic telemetry_status:

• the remote system type (enum MAV_TYPE). This allows to know if a mavlink instance is connected to a ground control station, needed by [WIP] Mavlink: rotate attitude for tailsitter in FW mode #9440
• the remote system ID and component ID are set from heartbeat messages sent by the remote system, they were previously set from radio status message inserted by the radio module.
• mavlink status prints these infos, useful to identify which instance is connected to what

Please review carefully the changes in Commander, I do not want to break the detection of loss of GCS telemetry.

[LorenzMeier]

Quick question: If the link is connected to multiple external/remote systems, what happens? Do we maybe need to report 0 then for ALL / broadcast? I want to avoid having the remote ID toggling randomly.

[jlecoeur]

Good point. We can detect if the ID changes more than once (ex 0 - > 1 - > 255) and report 0.

[lamping7]

This is causing a failsafe activation in CI leading to a mode switch failure. Failsafe repeatedly cycles between enabled and disabled. Unfortunately, I don't have more info than that.

ex:

[ INFO] [1526507826.169861039, 28.210000000]: FCU: Failsafe mode disabled
[ INFO] [1526507827.115278143, 29.154000000]: FCU: Failsafe mode enabled
[ INFO] [1526507827.165489924, 29.204000000]: FCU: Failsafe mode disabled
[ INFO] [1526507828.110843369, 30.150000000]: FCU: Failsafe mode enabled
[ INFO] [1526507828.161152307, 30.200000000]: FCU: Failsafe mode disabled
[ INFO] [1526507829.110614177, 31.148000000]: FCU: Failsafe mode enabled
[ INFO] [1526507829.160875006, 31.198000000]: FCU: Failsafe mode disabled
[ INFO] [1526507830.117813725, 32.154000000]: FCU: Failsafe mode enabled
[ INFO] [1526507830.168128978, 32.206000000]: FCU: Failsafe mode disabled

#9440 does the same thing.

[LorenzMeier]

@jlecoeur Could you please look into the CI failure? This PR is breaking something. Thanks!

[dagar]

Revisiting this idea - #10933

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.