diff --git a/main/proc.cpp b/main/proc.cpp index cbfef4e..51a7fee 100644 --- a/main/proc.cpp +++ b/main/proc.cpp @@ -310,6 +310,24 @@ void vTaskPROC(void* pvParameters) RF_TxFIFO.Write(); // complete the write into the TxFIFO if(Position) Position->Sent=1; } +#ifdef WITH_MAVLINK + { MAV_HEARTBEAT MAV_HeartBeat; + // = { custom_mode:0, + // type:0, + // autopilot:0, + // base_mode:0, + // system_status:4, + // mavlink_version:1 + // }; + MAV_HeartBeat.custom_mode=0; + MAV_HeartBeat.type=0; + MAV_HeartBeat.autopilot=0; + MAV_HeartBeat.base_mode=0; + MAV_HeartBeat.system_status=4; + MAV_HeartBeat.mavlink_version=1; + 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); + } +#endif #ifdef DEBUG_PRINT // char Line[128]; Line[0]='0'+RF_TxFIFO.Full(); Line[1]=' '; // print number of packets in the TxFIFO