From 74d8cf7a8739b57add60804283a457801a0ab865 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Apr 2021 22:19:01 +1000
Subject: [PATCH] GCS_Common: add support for sending COMPONENT_INFORMATION

---
 libraries/GCS_MAVLink/GCS.h          |  2 ++
 libraries/GCS_MAVLink/GCS_Common.cpp | 20 ++++++++++++++++++++
 libraries/GCS_MAVLink/ap_message.h   |  1 +
 3 files changed, 23 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index eafb935e9f1324..9fa1f750608d6d 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -396,6 +396,8 @@ class GCS_MAVLINK
     void send_uavionix_adsb_out_status() const;
     void send_autopilot_state_for_gimbal_device() const;
 
+    void send_component_information() const;
+
     // lock a channel, preventing use by MAVLink
     void lock(bool _lock) {
         _locked = _lock;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 379aea44f03f56..f11eb706ec430c 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1036,6 +1036,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
 #if HAL_ADSB_ENABLED
         { MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_STATUS, MSG_UAVIONIX_ADSB_OUT_STATUS},
 #endif
+        { MAVLINK_MSG_ID_COMPONENT_INFORMATION, MSG_COMPONENT_INFORMATION},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -5621,6 +5622,21 @@ void GCS_MAVLINK::send_received_message_deprecation_warning(const char * message
     send_text(MAV_SEVERITY_INFO, "Received message (%s) is deprecated", message);
 }
 
+void GCS_MAVLINK::send_component_information() const
+{
+    const char *general_metadata_url = "mftp:/@SYS/general_metadata.json";
+    const uint32_t general_metadata_checksum = 133761337;
+
+    mavlink_msg_component_information_send(
+        chan,
+        AP_HAL::millis(),
+        general_metadata_checksum,
+        general_metadata_url,
+        0,  // -1?
+        ""
+        );
+}
+
 bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 {
     bool ret = true;
@@ -6009,6 +6025,10 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
     }
 
+    case MSG_COMPONENT_INFORMATION:
+        CHECK_PAYLOAD_SIZE(COMPONENT_INFORMATION);
+        send_component_information();
+        break;
 
     case MSG_UAVIONIX_ADSB_OUT_STATUS:
 #if HAL_ADSB_ENABLED
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 271a009e58cd4d..36d69a6dd0fbdc 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -87,5 +87,6 @@ enum ap_message : uint8_t {
     MSG_ATTITUDE_TARGET,
     MSG_HYGROMETER,
     MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE,
+    MSG_COMPONENT_INFORMATION,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };