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custom heartbeat tbt

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This commit is contained in:
neo-nb3 2024-06-03 23:18:19 +02:00
parent dae8a7f51a
commit 1572cc5df2
4 changed files with 8 additions and 5 deletions
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2
ROMFS/px4fmu_common/init.d/airframes/0001_main_fts
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@ -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

2
ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
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@ -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

4
boards/px4/fts-auto/init/rc.board_defaults
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@ -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

5
src/modules/mavlink/streams/HEARTBEAT.hpp
View File

@ -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;