UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-08-01 12:18:31 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(mavlink): map @MAV_LOG virtual directory to log root (#27151)

Browse Source
This commit is contained in:
Julian Oes
2026-06-09 09:30:14 +12:00
committed by GitHub
parent 2b2c506a95
commit d085cbea59
2 changed files with 23 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/mavlink/mavlink_ftp.cpp
View File

@@ -48,6 +48,8 @@
using namespace time_literals;
constexpr const char MavlinkFTP::_root_dir[];
constexpr const char MavlinkFTP::_mav_log_prefix[];
constexpr const char MavlinkFTP::_mav_log_dir[];
MavlinkFTP::MavlinkFTP(Mavlink &mavlink) :
_mavlink(mavlink)
@@ -310,6 +312,20 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
}
void MavlinkFTP::_constructPath(char *dst, int dst_len, const char *path) const
{
// MAVLink FTP virtual directory: paths starting with "@MAV_LOG"
// are remapped to the flight-stack log root directory.
const char *p = path;
if (strncmp(p, _mav_log_prefix, _mav_log_prefix_len) == 0
&& (p[_mav_log_prefix_len] == '\0' || p[_mav_log_prefix_len] == '/')) {
strncpy(dst, _mav_log_dir, dst_len);
dst[dst_len - 1] = '\0';
int used = strlen(dst);
strncpy(dst + used, p + _mav_log_prefix_len, dst_len - used);
dst[dst_len - 1] = '\0';
return;
}
strncpy(dst, _root_dir, dst_len);
int root_dir_len = _root_dir_len;

7
src/modules/mavlink/mavlink_ftp.h
View File

@@ -195,6 +195,13 @@ private:
static constexpr const char _root_dir[] = PX4_ROOTFSDIR;
static constexpr const int _root_dir_len = sizeof(_root_dir) - 1;
// Virtual directory prefix for log files as defined by the MAVLink FTP spec.
// Paths that start with this prefix are mapped to the flight-stack log root.
static constexpr const char _mav_log_prefix[] = "@MAV_LOG";
static constexpr const int _mav_log_prefix_len = sizeof(_mav_log_prefix) - 1;
static constexpr const char _mav_log_dir[] = CONFIG_BOARD_ROOT_PATH "/log";
static constexpr const int _mav_log_dir_len = sizeof(_mav_log_dir) - 1;
bool _last_reply_valid = false;
uint8_t _last_reply[MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL_LEN - MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN
+ sizeof(PayloadHeader) + sizeof(uint32_t)];