diff --git a/.idea/runConfigurations/build_mfts.xml b/.idea/runConfigurations/build_mfts.xml
index a6082ba..d7a3282 100644
--- a/.idea/runConfigurations/build_mfts.xml
+++ b/.idea/runConfigurations/build_mfts.xml
@@ -5,8 +5,6 @@
-
-
-
+
\ No newline at end of file
diff --git a/.idea/runConfigurations/debug_v6c.xml b/.idea/runConfigurations/debug_v6c.xml
index 34d36ae..cc37ca1 100644
--- a/.idea/runConfigurations/debug_v6c.xml
+++ b/.idea/runConfigurations/debug_v6c.xml
@@ -1,5 +1,5 @@
-
+
diff --git a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
index 6925fc9..d5fa73e 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
+++ b/ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts
@@ -10,18 +10,9 @@
. ${R}etc/init.d/rc.mc_defaults
-# FTS_TYPE = 0 -> MISCONFIGURED MODULE
-# FTS_TYPE = 1 -> MAIN FTS MODULE
-# FTS_TYPE = 2 -> AUTO FTS MODULE
-
-# param set-default FTS_TYPE 2
-
-# FTS_SIM_MODE = 0 -> NORMAL OPERATION
-# FTS_SIM_MODE = 1 -> TERMINATION IS NOT EXECUTED BUT SIMULATED VIA MAVLINK MESSAGE & LOGGING
-
-# param set-default FTS_SIM_MODE 0
-
param set-default MAV_TYPE 37
+
+# GEOFENCE SETTINGS
param set-default GF_ACTION 1
param set-default GF_ALTMODE 0
param set-default GF_COUNT -1
diff --git a/boards/px4/fts-auto/init/rc.board_defaults b/boards/px4/fts-auto/init/rc.board_defaults
index 5c9f4b7..045e4ea 100644
--- a/boards/px4/fts-auto/init/rc.board_defaults
+++ b/boards/px4/fts-auto/init/rc.board_defaults
@@ -11,6 +11,7 @@ param set-default MAV_PROTO_VER 2
# Log from boot until shutdown
param set-default SDLOG_MODE 2
+param set-default SDLOG_PROFILE 0
param set-default SYS_USE_IO 1
param set-default SENS_IMU_MODE 0
diff --git a/boards/px4/fts-can/init/rc.board_defaults b/boards/px4/fts-can/init/rc.board_defaults
index 6c7236c..6dc2ae8 100644
--- a/boards/px4/fts-can/init/rc.board_defaults
+++ b/boards/px4/fts-can/init/rc.board_defaults
@@ -10,7 +10,8 @@ param set-default SYS_AUTOSTART 1
param set-default MAV_PROTO_VER 2
# Log from boot until shutdown
-#param set-default SDLOG_MODE 2
+param set-default SDLOG_MODE 2
+param set-default SDLOG_PROFILE 0
param set-default SYS_USE_IO 0
param set-default SENS_IMU_MODE 0
diff --git a/src/modules/fts_control/fts_control.cpp b/src/modules/fts_control/fts_control.cpp
index cdcc36a..7d250e8 100644
--- a/src/modules/fts_control/fts_control.cpp
+++ b/src/modules/fts_control/fts_control.cpp
@@ -3,7 +3,7 @@
#include "px4_platform_common/board_common.h"
-#include "../mavlink/streams/GROUND_FTS_RESPONSE.hpp"
+//#include "../mavlink/streams/GROUND_FTS_RESPONSE.hpp"
FTSController::FTSController() :
ModuleParams(nullptr),
@@ -93,8 +93,7 @@ FTSController::Run()
//PAIR COMMAND
_ground_fts_response.message = PAIR;
_ground_fts_response.fts_uid = fts_id.uid;
- _ground_fts_response_pub.publish(_ground_fts_response);
- MavlinkStreamGroundftsResponse.send();
+ _ground_fts_response_pub.publish(_ground_fts_response);
}
}
// Publish FTS controller state
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index a064508..39cc8ac 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -489,7 +489,7 @@ static const StreamListItem streams_list[] = {
create_stream_list_item(),
#endif // AUTO_FTS_MESSAGE_HPP
#if defined(GROUND_FTS_RESPONSE_HPP)
- create_stream_list_item()
+ create_stream_list_item()
#endif // GROUND_FTS_RESPONSE_HPP
};
diff --git a/src/modules/mavlink/streams/AUTO_FTS_MESSAGE.hpp b/src/modules/mavlink/streams/AUTO_FTS_MESSAGE.hpp
index bb17cdb..e39da74 100644
--- a/src/modules/mavlink/streams/AUTO_FTS_MESSAGE.hpp
+++ b/src/modules/mavlink/streams/AUTO_FTS_MESSAGE.hpp
@@ -58,22 +58,16 @@ private:
bool send() override
{
- // only send the struct if transmitting is allowed
- // this assures that the stream timer is only reset when actually a message is transmitted
- if (_mavlink->should_transmit()) {
- mavlink_auto_fts_message_t msg{};
- set_default_values(msg);
+ mavlink_auto_fts_message_t msg{};
+ set_default_values(msg);
- write_geofence_result(&msg);
+ write_geofence_result(&msg);
- write_gps_status(&msg);
+ write_gps_status(&msg);
- mavlink_msg_auto_fts_message_send_struct(_mavlink->get_channel(), &msg);
+ mavlink_msg_auto_fts_message_send_struct(_mavlink->get_channel(), &msg);
- return true;
-
- }
- return false;
+ return true;
}
diff --git a/src/modules/mavlink/streams/GROUND_FTS_RESPONSE.hpp b/src/modules/mavlink/streams/GROUND_FTS_RESPONSE.hpp
index 6d53ec5..c0c2100 100644
--- a/src/modules/mavlink/streams/GROUND_FTS_RESPONSE.hpp
+++ b/src/modules/mavlink/streams/GROUND_FTS_RESPONSE.hpp
@@ -9,10 +9,10 @@
#include
#include
-class MavlinkStreamGroundftsResponse : public MavlinkStream
+class MavlinkStreamGroundFtsResponse : public MavlinkStream
{
public:
- static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundftsResponse(mavlink); }
+ static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundFtsResponse(mavlink); }
static constexpr const char *get_name_static() { return "GROUND_FTS_RESPONSE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_FTS_MESSAGE; }
@@ -33,38 +33,26 @@ public:
bool const_rate() override { return true; }
private:
- explicit MavlinkStreamGroundftsResponse(Mavlink *mavlink) :
- MavlinkStream(mavlink)
- {
- }
+
+ explicit MavlinkStreamGroundFtsResponse(Mavlink *mavlink) : MavlinkStream(mavlink) {}
bool send() override
{
- // only send the struct if transmitting is allowed
- // this assures that the stream timer is only reset when actually a message is transmitted
- if (_mavlink->should_transmit()) {
- mavlink_fts_message_t msg{};
- ground_fts_response_s response;
+ mavlink_fts_message_t msg{};
- if (_ground_fts_response_sub.update(&response)) {
- msg.message = response.message;
- msg.FTS_UID = response.fts_uid;
+ ground_fts_response_s response;
- return true;
- }
-
- return false;
+ if (_ground_fts_response_sub.update(&response)) {
+ msg.message = response.message;
+ msg.FTS_UID = response.fts_uid;
mavlink_msg_fts_message_send_struct(_mavlink->get_channel(), &msg);
- return true;
-
- }
- return false;
-
+ return true;
+ }
+ return false;
}
-
};
#endif