I have figured out why the plane system keeps logging checksum errors when
communicating with Pixhawks that have recent firmware: there are new messages,
such as MCU_STATUS, that were not present in the version of the XML files that
is embedded into this repo (these are from 8 June 2020).
I tried to simply update the Git submodule, but the very next commit
(cc1833429fae240d234464668602a5656a0dcb2e) in the mavlink repo breaks
everything. I'm pretty sure that this is because of lines such as line 6584 in
common.xml:
<field type="uint16_t[4]" name="failure_flags" enum="ESC_FAILURE_FLAGS" display="bitmask">Bitmap of ESC failure flags.</field>Where we have bitflags on array types, which causes the Rust code generation to
go haywire. In order to upgrade anything, we need to find a way to support
bitflags on array types (my idea is to just convert them to integers, ex.:
uint16_t[4] -> u64).