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fix

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This commit is contained in:
neo-nb3 2024-06-07 21:24:53 +02:00
parent e3468b5ab3
commit 7deb22de4c
3 changed files with 10 additions and 7 deletions
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8
msg/AutoFtsMessage.msg
View File

@ -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

5
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -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

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -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>
@ -157,6 +158,7 @@ private:
void handle_message_adsb_vehicle(mavlink_message_t *msg);
void handle_message_att_pos_mocap(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);