From 208e50aa150e6d02578b260bc6af74ed0e850d46 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Mar 2025 03:02:43 +0300 Subject: [PATCH] Encode if the mode in stabilized in heartbeat message --- flix/mavlink.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index c4e910d..38fb0af 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -33,8 +33,8 @@ void sendMavlink() { if (t - lastSlow >= PERIOD_SLOW) { lastSlow = t; - mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, - MAV_AUTOPILOT_GENERIC, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0), + mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, + MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed * MAV_MODE_FLAG_SAFETY_ARMED) | ((mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED), 0, MAV_STATE_STANDBY); sendMessage(&msg); }