src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -325,16 +325,20 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
     mavlink_msg_param_set_encode_chan(message->sysid, message->compid, outgoingLink->mavlinkChannel(), message, &paramSet);
 }
 
-bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
+bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message, bool longVersion)
 {
     QString messageText;
     APMFirmwarePluginInstanceData* instanceData = qobject_cast<APMFirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
 
-    mavlink_statustext_t statusText;
-    mavlink_msg_statustext_decode(message, &statusText);
+    int severity;
+    if (longVersion) {
+        severity = mavlink_msg_statustext_long_get_severity(message);
+    } else {
+        severity = mavlink_msg_statustext_get_severity(message);
+    }
 
-    if (vehicle->firmwareMajorVersion() == Vehicle::versionNotSetValue || statusText.severity < MAV_SEVERITY_NOTICE) {
-        messageText = _getMessageText(message);
+    if (vehicle->firmwareMajorVersion() == Vehicle::versionNotSetValue || severity < MAV_SEVERITY_NOTICE) {
+        messageText = _getMessageText(message, longVersion);
         qCDebug(APMFirmwarePluginLog) << messageText;
 
         if (!messageText.contains(APM_SOLO_REXP)) {
@@ -400,14 +404,14 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
     }
 
     if (messageText.isEmpty()) {
-        messageText = _getMessageText(message);
+        messageText = _getMessageText(message, longVersion);
     }
 
     // The following messages are incorrectly labeled as warning message.
     // Fixed in newer firmware (unreleased at this point), but still in older firmware.
     if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP) ||
             messageText.contains(APM_PX4NUTTX_REXP) || messageText.contains(APM_FRAME_REXP) || messageText.contains(APM_SYSID_REXP)) {
-        _setInfoSeverity(message);
+        _setInfoSeverity(message, longVersion);
     }
 
     if (messageText.contains(APM_SOLO_REXP)) {
@@ -415,7 +419,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
         vehicle->setSoloFirmware(true);
 
         // Fix up severity
-        _setInfoSeverity(message);
+        _setInfoSeverity(message, longVersion);
 
         // Start TCP video handshake with ARTOO
         _soloVideoHandshake(vehicle, true /* originalSoloFirmware */);
@@ -465,7 +469,9 @@ bool APMFirmwarePlugin::adjustIncomingMavlinkMessage(Vehicle* vehicle, mavlink_m
         _handleIncomingParamValue(vehicle, message);
         break;
     case MAVLINK_MSG_ID_STATUSTEXT:
-        return _handleIncomingStatusText(vehicle, message);
+        return _handleIncomingStatusText(vehicle, message, false /* longVersion */);
+    case MAVLINK_MSG_ID_STATUSTEXT_LONG:
+        return _handleIncomingStatusText(vehicle, message, true /* longVersion */);
     case MAVLINK_MSG_ID_HEARTBEAT:
         _handleIncomingHeartbeat(vehicle, message);
         break;
@@ -494,12 +500,17 @@ void APMFirmwarePlugin::adjustOutgoingMavlinkMessage(Vehicle* vehicle, LinkInter
     }
 }
 
-QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message) const
+QString APMFirmwarePlugin::_getMessageText(mavlink_message_t* message, bool longVersion) const
 {
     QByteArray b;
 
-    b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
-    mavlink_msg_statustext_get_text(message, b.data());
+    if (longVersion) {
+        b.resize(MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN+1);
+        mavlink_msg_statustext_long_get_text(message, b.data());
+    } else {
+        b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
+        mavlink_msg_statustext_get_text(message, b.data());
+    }
 
     // Ensure NUL-termination
     b[b.length()-1] = '\0';
@@ -561,20 +572,33 @@ void APMFirmwarePlugin::_adjustSeverity(mavlink_message_t* message) const
                                        &statusText);
 }
 
-void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message) const
+void APMFirmwarePlugin::_setInfoSeverity(mavlink_message_t* message, bool longVersion) const
 {
-    mavlink_statustext_t statusText;
-    mavlink_msg_statustext_decode(message, &statusText);
-
     // Re-Encoding is always done using mavlink 1.0
     mavlink_status_t* mavlinkStatusReEncode = mavlink_get_channel_status(0);
     mavlinkStatusReEncode->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1;
-    statusText.severity = MAV_SEVERITY_INFO;
-    mavlink_msg_statustext_encode_chan(message->sysid,
-                                       message->compid,
-                                       0,                  // Re-encoding uses reserved channel 0
-                                       message,
-                                       &statusText);
+
+    if (longVersion) {
+        mavlink_statustext_long_t statusTextLong;
+        mavlink_msg_statustext_long_decode(message, &statusTextLong);
+
+        statusTextLong.severity = MAV_SEVERITY_INFO;
+        mavlink_msg_statustext_long_encode_chan(message->sysid,
+                                                message->compid,
+                                                0,                  // Re-encoding uses reserved channel 0
+                                                message,
+                                                &statusTextLong);
+    } else {
+        mavlink_statustext_t statusText;
+        mavlink_msg_statustext_decode(message, &statusText);
+
+        statusText.severity = MAV_SEVERITY_INFO;
+        mavlink_msg_statustext_encode_chan(message->sysid,
+                                           message->compid,
+                                           0,                  // Re-encoding uses reserved channel 0
+                                           message,
+                                           &statusText);
+    }
 }
 
 void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* message) const

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -119,10 +119,10 @@ private:
     void _adjustSeverity(mavlink_message_t* message) const;
     void _adjustCalibrationMessageSeverity(mavlink_message_t* message) const;
     static bool _isTextSeverityAdjustmentNeeded(const APMFirmwareVersion& firmwareVersion);
-    void _setInfoSeverity(mavlink_message_t* message) const;
-    QString _getMessageText(mavlink_message_t* message) const;
+    void _setInfoSeverity(mavlink_message_t* message, bool longVersion) const;
+    QString _getMessageText(mavlink_message_t* message, bool longVersion) const;
     void _handleIncomingParamValue(Vehicle* vehicle, mavlink_message_t* message);
-    bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message);
+    bool _handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message, bool longVersion);
     void _handleIncomingHeartbeat(Vehicle* vehicle, mavlink_message_t* message);
     void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
     void _soloVideoHandshake(Vehicle* vehicle, bool originalSoloFirmware);

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -425,7 +425,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
         return;
     }
 
-    if (vehicle->capabilityBits() && MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+    if (vehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
         vehicle->sendMavCommandInt(vehicle->defaultComponentId(),
                                    MAV_CMD_DO_REPOSITION,
                                    MAV_FRAME_GLOBAL,

src/Vehicle/Vehicle.cc

@@ -783,7 +783,10 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         _handleEstimatorStatus(message);
         break;
     case MAVLINK_MSG_ID_STATUSTEXT:
-        _handleStatusText(message);
+        _handleStatusText(message, false /* longVersion */);
+        break;
+    case MAVLINK_MSG_ID_STATUSTEXT_LONG:
+        _handleStatusText(message, true /* longVersion */);
         break;
     case MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS:
         _handleOrbitExecutionStatus(message);
@@ -881,15 +884,23 @@ void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
     }
 }
 
-void Vehicle::_handleStatusText(mavlink_message_t& message)
+void Vehicle::_handleStatusText(mavlink_message_t& message, bool longVersion)
 {
-    QByteArray b;
+    QByteArray  b;
+    QString     messageText;
+    int         severity;
 
-    b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
-    mavlink_msg_statustext_get_text(&message, b.data());
+    if (longVersion) {
+        b.resize(MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN+1);
+        mavlink_msg_statustext_long_get_text(&message, b.data());
+        severity = mavlink_msg_statustext_long_get_severity(&message);
+    } else {
+        b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
+        mavlink_msg_statustext_get_text(&message, b.data());
+        severity = mavlink_msg_statustext_get_severity(&message);
+    }
     b[b.length()-1] = '\0';
-    QString messageText = QString(b);
-    int severity = mavlink_msg_statustext_get_severity(&message);
+    messageText = QString(b);
 
     bool skipSpoken = false;
     bool ardupilotPrearm = messageText.startsWith(QStringLiteral("PreArm"));

src/Vehicle/Vehicle.h

@@ -1255,7 +1255,7 @@ private:
     void _handleAttitudeTarget(mavlink_message_t& message);
     void _handleDistanceSensor(mavlink_message_t& message);
     void _handleEstimatorStatus(mavlink_message_t& message);
-    void _handleStatusText(mavlink_message_t& message);
+    void _handleStatusText(mavlink_message_t& message, bool longVersion);
     void _handleOrbitExecutionStatus(const mavlink_message_t& message);
     // ArduPilot dialect messages
 #if !defined(NO_ARDUPILOT_DIALECT)

src/comm/MockLink.cc

@@ -1065,6 +1065,14 @@ void MockLink::_sendStatusTextMessages(void)
                                          status->severity,
                                          status->msg);
         respondWithMavlinkMessage(msg);
+
+        mavlink_msg_statustext_long_pack_chan(_vehicleSystemId,
+                                              _vehicleComponentId,
+                                              _mavlinkChannel,
+                                              &msg,
+                                              status->severity,
+                                              status->msg);
+        respondWithMavlinkMessage(msg);
     }
 }
 

src/ui/MAVLinkDecoder.cc

@@ -15,6 +15,7 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol) :
 //    messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
 //    messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
     messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
+    messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT_LONG, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
     messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);