kopia lustrzana https://github.com/pjalocha/esp32-ogn-tracker
Add MAVlink HEARTBEAT message
rodzic
e9c5ac0dd6
commit
0718171974
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@ -310,6 +310,24 @@ void vTaskPROC(void* pvParameters)
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RF_TxFIFO.Write(); // complete the write into the TxFIFO
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if(Position) Position->Sent=1;
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}
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#ifdef WITH_MAVLINK
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{ MAV_HEARTBEAT MAV_HeartBeat;
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// = { custom_mode:0,
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// type:0,
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// autopilot:0,
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// base_mode:0,
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// system_status:4,
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// mavlink_version:1
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// };
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MAV_HeartBeat.custom_mode=0;
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MAV_HeartBeat.type=0;
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MAV_HeartBeat.autopilot=0;
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MAV_HeartBeat.base_mode=0;
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MAV_HeartBeat.system_status=4;
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MAV_HeartBeat.mavlink_version=1;
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MAV_RxMsg::Send(sizeof(MAV_HeartBeat), MAV_Seq++, MAV_SysID, MAV_COMP_ID_ADSB, MAV_ID_HEARTBEAT, (const uint8_t *)&MAV_HeartBeat, GPS_UART_Write);
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}
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#endif
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#ifdef DEBUG_PRINT
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// char Line[128];
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Line[0]='0'+RF_TxFIFO.Full(); Line[1]=' '; // print number of packets in the TxFIFO
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