From 1572cc5df2034e4ad550d7be6753fe877a1fd3a8 Mon Sep 17 00:00:00 2001 From: neo-nb3 Date: Mon, 3 Jun 2024 23:18:19 +0200 Subject: [PATCH] custom heartbeat tbt --- ROMFS/px4fmu_common/init.d/airframes/0001_main_fts | 2 +- ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts | 2 +- boards/px4/fts-auto/init/rc.board_defaults | 4 ++++ src/modules/mavlink/streams/HEARTBEAT.hpp | 5 ++--- 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts index e5f261a..ea4400a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts +++ b/ROMFS/px4fmu_common/init.d/airframes/0001_main_fts @@ -17,7 +17,7 @@ param set-default FTS_TYPE 1 # FTS_SIM_MODE = 0 -> NORMAL OPERATION -# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT +# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA MAVLINK MESSAGE & LOGGING param set-default FTS_SIM_MODE 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts index e24550a..558bd8c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts +++ b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts @@ -17,7 +17,7 @@ param set-default FTS_TYPE 2 # FTS_SIM_MODE = 0 -> NORMAL OPERATION -# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA THE SIMULATION OUTPUT +# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA MAVLINK MESSAGE & LOGGING param set-default FTS_SIM_MODE 0 diff --git a/boards/px4/fts-auto/init/rc.board_defaults b/boards/px4/fts-auto/init/rc.board_defaults index 6418e58..8232f5b 100644 --- a/boards/px4/fts-auto/init/rc.board_defaults +++ b/boards/px4/fts-auto/init/rc.board_defaults @@ -11,3 +11,7 @@ param set-default BAT1_A_PER_V 36.367515152 param set-default BAT2_A_PER_V 36.367515152 param set-default SYS_USE_IO 1 + +param set-default SYS_AUTOSTART 1 +param set-default SYS_TYPE 37 + diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp index 26d966a..7c21111 100644 --- a/src/modules/mavlink/streams/HEARTBEAT.hpp +++ b/src/modules/mavlink/streams/HEARTBEAT.hpp @@ -129,9 +129,8 @@ private: } else if (vehicle_status.calibration_enabled) { system_status = MAV_STATE_CALIBRATING; } - - - mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, + // custom heartbeat compliant to Nimbus FTS + mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), 20, base_mode, custom_mode.data, system_status); return true;