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MAVLink 2.0: Take a first stab at integration, enable heartbeat packets

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Lorenz Meier
2016-05-13 14:53:47 +02:00
parent c67907ffb2
commit 6eccfe3d14
5 changed files with 44 additions and 33 deletions
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15
src/modules/mavlink/mavlink_messages.cpp
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@@ -333,16 +333,13 @@ protected:
memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
}
mavlink_heartbeat_t msg;
uint8_t base_mode = 0;
uint32_t custom_mode = 0;
uint8_t system_status = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &system_status, &base_mode, &custom_mode);
msg.base_mode = 0;
msg.custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
msg.mavlink_version = 3;
_mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg);
mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4,
base_mode, custom_mode, system_status);
}
};