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Plane: make mav_type in HEARTBEAT configurable

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needed for qgc to setup for quadplanes
This commit is contained in:
Andrew Tridgell 2017-10-20 15:39:44 +11:00
parent 0aed5a9a57
commit 8178ab4037
3 changed files with 25 additions and 4 deletions
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2
ArduPlane/GCS_Mavlink.cpp
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@ -90,7 +90,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
// indicate we have set a custom mode // indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_FIXED_WING, gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(quadplane.get_mav_type(),
base_mode, base_mode,
custom_mode, custom_mode,
system_status); system_status);

17
ArduPlane/quadplane.cpp
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@ -394,6 +394,12 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 0.1 // @Increment: 0.1
AP_GROUPINFO("TAILSIT_VHPOW", 56, QuadPlane, tailsitter.vectored_hover_power, 2.5), 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 AP_GROUPEND
}; };
@ -2401,3 +2407,14 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
guided_takeoff = true; guided_takeoff = true;
return 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());
}

4
ArduPlane/quadplane.h
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@ -249,6 +249,10 @@ private:
// ICEngine control on landing // ICEngine control on landing
AP_Int8 land_icengine_cut; 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 // time we last got an EKF yaw reset
uint32_t ekfYawReset_ms; uint32_t ekfYawReset_ms;