From 7deb22de4c4b88a015fd92b48266bdc8d66cc16c Mon Sep 17 00:00:00 2001
From: neo-nb3 <a@b.com>
Date: Fri, 7 Jun 2024 21:24:53 +0200
Subject: [PATCH] fix

---
 msg/AutoFtsMessage.msg                   | 8 ++++----
 src/modules/mavlink/mavlink_receiver.cpp | 5 +++--
 src/modules/mavlink/mavlink_receiver.h   | 4 +++-
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/msg/AutoFtsMessage.msg b/msg/AutoFtsMessage.msg
index 25b4f40..67f5a90 100644
--- a/msg/AutoFtsMessage.msg
+++ b/msg/AutoFtsMessage.msg
@@ -1,6 +1,6 @@
 uint64 timestamp # time since system start (microseconds)
 
-uint8 config_status = 0
-uint8 geofence_loaded = 1
-uint8 gps_lock = 2
-uint8 geofence_violated = 3
+uint8 config_status
+uint8 geofence_loaded
+uint8 gps_lock
+uint8 geofence_violated
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 39ae0d9..02e7a8c 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -3063,6 +3063,7 @@ MavlinkReceiver::handle_message_gimbal_device_attitude_status(mavlink_message_t
 	_gimbal_device_attitude_status_pub.publish(gimbal_attitude_status);
 }
 
+void
 MavlinkReceiver::handle_message_auto_fts_message(mavlink_message_t *msg)
 {
 mavlink_auto_fts_message_t auto_fts_message_msg;
@@ -3070,8 +3071,8 @@ mavlink_msg_auto_fts_message_decode(msg, &auto_fts_message_msg);
 
 auto_fts_message_s auto_fts_message{};
 auto_fts_message.timestamp = hrt_absolute_time();
-
-_auto_fts_message_pub.publish(gimbal_attitude_status);
+auto_fts_message.geofence_violated=auto_fts_message_msg.geofence_violated;
+_auto_fts_message_pub.publish(auto_fts_message);
 }
 
 void
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 27c7033..fe996f2 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -64,6 +64,7 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/autotune_attitude_control_status.h>
+#include <uORB/topics/auto_fts_message.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/camera_status.h>
 #include <uORB/topics/cellular_status.h>
@@ -157,7 +158,8 @@ private:
 
 	void handle_message_adsb_vehicle(mavlink_message_t *msg);
 	void handle_message_att_pos_mocap(mavlink_message_t *msg);
-	void handle_message_battery_status(mavlink_message_t *msg);
+    void handle_message_auto_fts_message(mavlink_message_t *msg);
+    void handle_message_battery_status(mavlink_message_t *msg);
 	void handle_message_cellular_status(mavlink_message_t *msg);
 	void handle_message_collision(mavlink_message_t *msg);
 	void handle_message_command_ack(mavlink_message_t *msg);