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added ground-fts paired status parameter

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This commit is contained in:
neo 2024-06-21 11:50:10 +02:00
parent 20e042051f
commit 050e2016d9
4 changed files with 9 additions and 1 deletions
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1
ROMFS/px4fmu_common/init.d/airframes/0001_main_fts
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@ -14,6 +14,7 @@
# AFTS_ENABLED = 1 -> AFTS MODULE PRESENT AND ENABLED
param set-default AFTS_ENABLED 1
param set-default GFTS_PAIRED 0
param set-default MAV_TYPE 37

7
src/modules/fts_control/fts_control.cpp
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@ -129,6 +129,11 @@ FTSController::Run() {
_ground_fts_response.message = PAIR;
_ground_fts_response.fts_uid = fts_id.uid;
_ground_fts_response_pub.publish(_ground_fts_response);
int32_t param_val = 0;
if (param_get(param_find("GFTS_PAIRED"), &param_val)==0){
param_val = 1;
param_set(param_find("GFTS_PAIRED"), &param_val);
}
}
} else {
@ -222,7 +227,7 @@ FTSController::update_topics()
bool FTSController::update_param()
{
param_get(param_find("GFTS_PAIRED"), &_ground_fts_paired);
return 1;
}

1
src/modules/fts_control/fts_control.hpp
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@ -169,6 +169,7 @@ private:
hrt_abstime _last_fts_state_update_time{0};
hrt_abstime _ground_fts_timestamp_last{0};
hrt_abstime _auto_fts_timestamp_last{0};
int32_t _ground_fts_paired{0};
// UORB topics published
main_fts_status_s _main_fts_status_msg{};

1
src/modules/fts_control/fts_control_params.c
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@ -46,3 +46,4 @@
*/
PARAM_DEFINE_INT32(AFTS_ENABLED, 1);
PARAM_DEFINE_INT32(GFTS_PAIRED, 0);