I keep seeing the MAVLINK_FRAMING_BAD_CRC error being returned from mavlink_frame_char() when receiving messages of type MAVLINK_MSG_ID_EKF_STATUS_REPORT. I am using the Mavlink 1 C language headers to receive the messages using functions such as mavlink_parse_char() (which calls mavlink_frame_char()).
I receive all other messages fine so there is something wrong with this message’s CRC. I note that QGroundControl and MissionPlanner receive MAVLINK_MSG_ID_EKF_STATUS_REPORT messages without any problems.
In the mavlink_msg_ekf_status_report.h header file I see these lines:
#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN 26
#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN 22
which is unusual as most headers have LEN and MIN_LEN as the same values so I am thinking that the problems originates there. I am not sure at this stage of the purpose of MIN_LEN since the structure in question is 26 bytes long, not 22 bytes:
MAVPACKED(
typedef struct __mavlink_ekf_status_report_t {
float velocity_variance; /*< Velocity variance.*/
float pos_horiz_variance; /*< Horizontal Position variance.*/
float pos_vert_variance; /*< Vertical Position variance.*/
float compass_variance; /*< Compass variance.*/
float terrain_alt_variance; /*< Terrain Altitude variance.*/
uint16_t flags; /*< Flags.*/
float airspeed_variance; /*< Airspeed variance.*/
}) mavlink_ekf_status_report_t;
Just posting this in case anyone else has any thoughts on this. I’ve spent 2 days looking at this specific problem. Cheers.
