main & auto fts module dev

ROMFS/px4fmu_common/init.d/airframes/0002_auto_fts

@@ -14,11 +14,11 @@
 # FTS_TYPE = 1 -> MAIN FTS MODULE
 # FTS_TYPE = 2 -> AUTO FTS MODULE
 
-param set-default FTS_TYPE 2
+# 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 FTS_SIM_MODE 0
 
 param set-default MAV_TYPE 37

ROMFS/px4fmu_common/init.d/rcS

@@ -558,4 +558,4 @@ unset VEHICLE_TYPE
 #
 # Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
 #
-mavlink boot_complete
+# mavlink boot_complete

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

@@ -3,15 +3,18 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default SYS_AUTOSTART 2
 
-param set-default BAT1_V_DIV 18.1
+#param set-default FTS_TYPE 2
-param set-default BAT2_V_DIV 18.1
+#param set-default FTS_SIM_MODE 0
-
-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 SENS_IMU_MODE 0
 
-param set-default SYS_AUTOSTART 1
+# MAIN-FTS INTERFACE (9600 BAUD)
-param set-default SYS_TYPE 37
+# MAV_0 - TELEM 1 - TTYS5 - UART7 (PE7/PE8)
-
+param set-default MAV_0_CONFIG 101
+param set-default MAV_0_FORWARD 0
+param set-default MAV_0_MODE 1
+param set-default MAV_0_RADIO_CTL 0
+param set-default MAV_0_RATE 2400

boards/px4/fts-can/init/rc.board_defaults

@@ -3,12 +3,13 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default SYS_AUTOSTART 1
 
-#param set-default FTS_TYPE 1
+param set-default FTS_TYPE 1
-#param set-default FTS_SIM_MODE 0
+param set-default FTS_SIM_MODE 0
 
-#param set-default SYS_USE_IO 0
+param set-default SYS_USE_IO 0
-#param set-default SENS_IMU_MODE 0
+param set-default SENS_IMU_MODE 0
 
 # FC INTERFACE (9600 BAUD)
 # MAV_0 - TELEM 1 - TTYS5 - UART7 (PE7/PE8)

build_6c.sh

@@ -0,0 +1,7 @@
+#!/bin/bash -xe
+# BUILD AUTO-FTS FIRMWARE
+source venv/bin/activate
+#rm -rf build/
+#git submodule update --recursive
+#make -j$(nproc) px4_fts-can
+make px4_fmu-v6c

build_afts.sh

@@ -1,7 +1,7 @@
 #!/bin/bash -xe
 # BUILD AUTO-FTS FIRMWARE
 source venv/bin/activate
-rm -rf build/
+#rm -rf build/
-git submodule update --recursive
+#git submodule update --recursive
 #make -j$(nproc) px4_fts-can
 make px4_fts-auto

build_mfts.sh

@@ -1,7 +1,7 @@
 #!/bin/bash -xe
 # BUILD MAIN-FTS FIRMWARE
 source venv/bin/activate
-rm -rf build/
+#rm -rf build/
-git submodule update --recursive
+#git submodule update --recursive
 make px4_fts-can
-#make px4_fts-proto_default
+#make px4_fts-can_default

flash_6c.sh

@@ -0,0 +1,6 @@
+#!/bin/bash -xe
+
+# build firmware
+./build_6c.sh
+# flash firmware
+st-flash write build/px4_fmu-v6c_default/px4_fmu-v6c_default.bin 0x08020000

src/modules/fts_control/fts_control_params.c

@@ -39,7 +39,7 @@
  */
 
 /**
- * Enable FTS relates funtions.
+ * Enable FTS module.
  *
  * @boolean
  * @group FTS Control

src/modules/mavlink/CMakeLists.txt

@@ -41,6 +41,8 @@ px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
 
 # always generate uAvionix dialect
 set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
+message(STATUS "VENV: ${CMAKE_SOURCE_DIR}/venv/bin/activate")
+execute_process(COMMAND source ${CMAKE_SOURCE_DIR}/venv/bin/activate)
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
 	COMMAND

src/modules/mavlink/mavlink_main.cpp

@@ -1842,9 +1842,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("UAVIONIX_ADSB_OUT_DYNAMIC", 5.0f);
 		break;
 
-    case MAVLINK_MODE_FTS:
-        break;
-
 	default:
 		ret = -1;
 		break;

src/modules/mavlink/mavlink_main.h

@@ -211,7 +211,6 @@ public:
 		MAVLINK_MODE_GIMBAL,
 		MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH,
 		MAVLINK_MODE_UAVIONIX,
-        MAVLINK_MODE_FTS,
 		MAVLINK_MODE_COUNT
 	};
 

src/modules/mavlink/streams/HEARTBEAT.hpp

@@ -129,9 +129,15 @@ private:
 			} else if (vehicle_status.calibration_enabled) {
 				system_status = MAV_STATE_CALIBRATING;
 			}
-            // custom heartbeat compliant to Nimbus FTS
+            // custom heartbeat compliant to Nimbus Ground FTS
+            custom_mode = custom_mode;
+            base_mode = base_mode;
+            system_status = system_status;
 			mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), 20,
-						   base_mode, custom_mode.data, system_status);
+						   0, 0, 3);
+            // standard heartbeat
+            //mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), 20,
+            //                           base_mode, custom_mode.data, system_status);
 
 			return true;
 		}