PX4 and ping command

[shening]

Hi I was wondering if the Mavlink ping command was implemented on the PX4 in order to measure GCS to aircraft connection latency

PING ( )
https://pixhawk.ethz.ch/mavlink/
A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.

Thank you,

Sebastian

[dagar]

It's not implemented in PX4, but it shouldn't be that hard to add. If you're interested in adding this I'd be happy to point you in the right direction.

http://mavlink.org/messages/common#PING

You would add a simple function in the PX4 mavlink module here - https://github.com/PX4/Firmware/blob/master/src/modules/mavlink/mavlink_receiver.cpp#L704

void
MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
{
    // send ping reply
}

[mhkabir]

We should then expose the ping statics per-link via mavlink status.

I've been meaning to do this for a while, but if @shening is interested in doing it, that's awesome!

[dagar]

Would love to have this is you're interested in implementing. Pull requests welcome!

[weiminshen99]

Hi, All,

Could you please tell me if this has been implemented yet? I just stated flying multiple UAVs and it would be great to have this handy. Thanks in advance.

Wingman

[weiminshen99]

Hi, @dagar,
I am interested in implementing this because I need it badly for my multi-PX4 swarms. Please let me know how. Do I need to open a new issue on this? Thanks!

[dagar]

@weiminshen99 it looks partially implemented. https://github.com/PX4/Firmware/blob/master/src/modules/mavlink/mavlink_receiver.cpp#L1718-L1728

Yes please open a new issue to discuss.