From 8178ab4037b05c515946f1f3fe501babaf48ad5b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 20 Oct 2017 15:39:44 +1100
Subject: [PATCH] Plane: make mav_type in HEARTBEAT configurable

needed for qgc to setup for quadplanes
---
 ArduPlane/GCS_Mavlink.cpp |  8 ++++----
 ArduPlane/quadplane.cpp   | 17 +++++++++++++++++
 ArduPlane/quadplane.h     |  4 ++++
 3 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index fdf6dc6786..56fac55b13 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -90,10 +90,10 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_FIXED_WING,
-                                            base_mode,
-                                            custom_mode,
-                                            system_status);
+    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(quadplane.get_mav_type(),
+                                                   base_mode,
+                                                   custom_mode,
+                                                   system_status);
 }
 
 void Plane::send_attitude(mavlink_channel_t chan)
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 42863d7668..d9199f4b4e 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -393,6 +393,12 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Range: 0 4
     // @Increment: 0.1
     AP_GROUPINFO("TAILSIT_VHPOW", 56, QuadPlane, tailsitter.vectored_hover_power, 2.5),
+
+    // @Param: MAV_TYPE
+    // @DisplayName: MAVLink type identifier
+    // @Description: This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.
+    // @Values: 0:AUTO,1:FIXED_WING,2:QUADROTOR,3:COAXIAL,4:HELICOPTER,7:AIRSHIP,8:FREE_BALLOON,9:ROCKET,10:GROUND_ROVER,11:SURFACE_BOAT,12:SUBMARINE,16:FLAPPING_WING,17:KITE,19:VTOL_DUOROTOR,20:VTOL_QUADROTOR,21:VTOL_TILTROTOR
+    AP_GROUPINFO("MAV_TYPE", 57, QuadPlane, mav_type, 0),
     
     AP_GROUPEND
 };
@@ -2401,3 +2407,14 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
     guided_takeoff = true;
     return true;
 }
+
+/*
+  return mav_type for heartbeat
+ */
+uint8_t QuadPlane::get_mav_type(void) const
+{
+    if (mav_type.get() == 0) {
+        return MAV_TYPE_FIXED_WING;
+    }
+    return uint8_t(mav_type.get());
+}
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 363348d79a..d945461cfb 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -249,6 +249,10 @@ private:
     // ICEngine control on landing
     AP_Int8 land_icengine_cut;
 
+    // HEARTBEAT mav_type override
+    AP_Int8 mav_type;
+    uint8_t get_mav_type(void) const;
+    
     // time we last got an EKF yaw reset
     uint32_t ekfYawReset_ms;