From 03133560964aecc8371d2605efbe11bb58029168 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Tue, 1 Sep 2020 12:37:22 -0700
Subject: [PATCH] Mavlink update

---
 libs/mavlink/include/mavlink/v2.0 |  2 +-
 src/Camera/QGCCameraControl.cc    | 13 +++++++------
 src/Camera/QGCCameraIO.cc         | 17 +++++++++--------
 src/comm/MockLink.cc              | 14 ++++++--------
 4 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
index 99a977433..d1eea85b6 160000
--- a/libs/mavlink/include/mavlink/v2.0
+++ b/libs/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit 99a977433a13705cd0624f8ff3b5f5210d526ba9
+Subproject commit d1eea85b685eec2204ad31c7f7f51486f218f86b
diff --git a/src/Camera/QGCCameraControl.cc b/src/Camera/QGCCameraControl.cc
index bef5c7c49..54c228474 100644
--- a/src/Camera/QGCCameraControl.cc
+++ b/src/Camera/QGCCameraControl.cc
@@ -1174,12 +1174,13 @@ QGCCameraControl::_requestAllParameters()
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     mavlink_message_t msg;
     mavlink_msg_param_ext_request_list_pack_chan(
-        static_cast<uint8_t>(mavlink->getSystemId()),
-        static_cast<uint8_t>(mavlink->getComponentId()),
-        _vehicle->priorityLink()->mavlinkChannel(),
-        &msg,
-        static_cast<uint8_t>(_vehicle->id()),
-        static_cast<uint8_t>(compID()));
+                static_cast<uint8_t>(mavlink->getSystemId()),
+                static_cast<uint8_t>(mavlink->getComponentId()),
+                _vehicle->priorityLink()->mavlinkChannel(),
+                &msg,
+                static_cast<uint8_t>(_vehicle->id()),
+                static_cast<uint8_t>(compID()),
+                0);                                                 // trimmed messages = false
     _vehicle->sendMessageOnLinkThreadSafe(_vehicle->priorityLink(), msg);
     qCDebug(CameraControlVerboseLog) << "Request all parameters";
 }
diff --git a/src/Camera/QGCCameraIO.cc b/src/Camera/QGCCameraIO.cc
index a0cbb4cc3..4a6c10e1c 100644
--- a/src/Camera/QGCCameraIO.cc
+++ b/src/Camera/QGCCameraIO.cc
@@ -356,14 +356,15 @@ QGCCameraParamIO::paramRequest(bool reset)
     strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
     mavlink_message_t msg;
     mavlink_msg_param_ext_request_read_pack_chan(
-        static_cast<uint8_t>(_pMavlink->getSystemId()),
-        static_cast<uint8_t>(_pMavlink->getComponentId()),
-        _vehicle->priorityLink()->mavlinkChannel(),
-        &msg,
-        static_cast<uint8_t>(_vehicle->id()),
-        static_cast<uint8_t>(_control->compID()),
-        param_id,
-        -1);
+                static_cast<uint8_t>(_pMavlink->getSystemId()),
+                static_cast<uint8_t>(_pMavlink->getComponentId()),
+                _vehicle->priorityLink()->mavlinkChannel(),
+                &msg,
+                static_cast<uint8_t>(_vehicle->id()),
+                static_cast<uint8_t>(_control->compID()),
+                param_id,
+                -1,
+                0);                                                 // trimmed messages = false
     _vehicle->sendMessageOnLinkThreadSafe(_vehicle->priorityLink(), msg);
     _paramRequestTimer.start();
 }
diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc
index 9cb3bb446..bbc917568 100644
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -7,7 +7,6 @@
  *
  ****************************************************************************/
 
-
 #include "MockLink.h"
 #include "QGCLoggingCategory.h"
 #include "QGCApplication.h"
@@ -28,11 +27,6 @@
 QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
 QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 
-/// @file
-///     @brief Mock implementation of a Link.
-///
-///     @author Don Gagne <don@thegagnes.com>
-
 // Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
 // testing of a gazebo vehicle and a mocklink vehicle
 #if 1
@@ -410,12 +404,14 @@ void MockLink::_sendBatteryStatus(void)
     mavlink_message_t   msg;
     uint16_t            rgVoltages[10];
     uint16_t            rgVoltagesNone[10];
+    uint16_t            rgVoltagesExtNone[4];
 
     for (int i=0; i<10; i++) {
         rgVoltages[i]       = UINT16_MAX;
         rgVoltagesNone[i]   = UINT16_MAX;
     }
     rgVoltages[0] = rgVoltages[1] = rgVoltages[2] = 4200;
+    memset(rgVoltagesExtNone, 0, sizeof(rgVoltagesExtNone));
 
     mavlink_msg_battery_status_pack_chan(
                 _vehicleSystemId,
@@ -432,7 +428,8 @@ void MockLink::_sendBatteryStatus(void)
                 -1,                         // energy consumed not supported
                 _battery1PctRemaining,
                 _battery1TimeRemaining,
-                _battery1ChargeState);
+                _battery1ChargeState,
+                rgVoltagesExtNone);
     respondWithMavlinkMessage(msg);
 
     mavlink_msg_battery_status_pack_chan(
@@ -450,7 +447,8 @@ void MockLink::_sendBatteryStatus(void)
                 -1,                         // energy consumed not supported
                 _battery2PctRemaining,
                 _battery2TimeRemaining,
-                _battery2ChargeState);
+                _battery2ChargeState,
+                rgVoltagesExtNone);
     respondWithMavlinkMessage(msg);
 }
 
-- 
2.22.0