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Outgoing ARM message over MAVLINK

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Steve Borenstein 2022-08-18 14:04:36 -06:00 committed by Randy Mackay
parent a3c4c89858
commit 1ca2153005
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp
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@ -28,6 +28,8 @@
#include <dronecan/remoteid/System.hpp> #include <dronecan/remoteid/System.hpp>
#include <dronecan/remoteid/ArmStatus.hpp> #include <dronecan/remoteid/ArmStatus.hpp>
#include <GCS_MAVLink/GCS_MAVLink.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS #if HAL_MAX_CAN_PROTOCOL_DRIVERS
static uavcan::Publisher<dronecan::remoteid::Location>* dc_location[HAL_MAX_CAN_PROTOCOL_DRIVERS]; static uavcan::Publisher<dronecan::remoteid::Location>* dc_location[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::Publisher<dronecan::remoteid::BasicID>* dc_basic_id[HAL_MAX_CAN_PROTOCOL_DRIVERS]; static uavcan::Publisher<dronecan::remoteid::BasicID>* dc_basic_id[HAL_MAX_CAN_PROTOCOL_DRIVERS];
@ -236,6 +238,9 @@ static void handle_arm_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ArmSt
strncpy_noterm(status.error, msg.error.c_str(), sizeof(status.error)); strncpy_noterm(status.error, msg.error.c_str(), sizeof(status.error));
AP::opendroneid().set_arm_status(status); AP::opendroneid().set_arm_status(status);
// Push DroneCAN Arm Message to GCS
gcs().send_to_active_channels(MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS,(const char*)&status);
} }
// copy arm status for DroneCAN // copy arm status for DroneCAN