mavlink receiver move to uORB::Publication

[dagar]

No description provided.

[mcsauder]

Hi @dagar , so far so good. Everything I have reviewed looks great, but this touches a lot of code! I want to look it over top to bottom again tomorrow, but I spent some time reviewing the PR tonight and this is a really nice cleanup. Here is a flight log communicating with QGC during flight. Flight test went as expected, no anomalies, (25+mph winds in a turbulent environment!), pixhawk 4 mini on a 250 quad: https://review.px4.io/plot_app?log=9b4262d5-bf56-4689-90dd-770a5f15ff84

[mcsauder]

Looks great. If you want to make the changes I suggested go for it, but they are not really functional modifications, so at this point everything looks good. Nice work Daniel.

[mcsauder]

Hi @dagar, I've gone through the PR again and I haven't found anything else to comment on. Let me know if you would like to see anything specific exercised in flight testing, and in the meantime I'll look for opportunities to shrink the flash size.

[dagar]

Thanks for the review @mcsauder.

[dagar]

Rebase on master once #12411 is merged.

[jorge789]

Tested on Pixhawk 2 Cube V3:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=1ba2380f-d1e1-42d2-9f15-38d1662278e3

Tested on PixRacer V4:
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=7d132e8c-c850-4f5d-aac1-28ee9107366f

Tested on CUAC+ V5:
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=a71ff9b9-c91f-4c97-9b47-7a76ff9f04de

[Junkim3DR]

Tested on Pixhawk 4 mini v5:

Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=fe5b84bd-552e-4c96-a11f-7c3b7b72cafb

Tested on Pixhawk Pro v4:

Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=9ec229be-2fcf-4160-84d8-f1127dcd9748

[dannyfpv]

Tested on Pixhawk4 v5 f-450
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

pr log:
https://review.px4.io/plot_app?log=168cab4b-ceb9-4f0a-a929-165677e775c0