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Encode if the mode in stabilized in heartbeat message

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Oleg Kalachev
2025-03-14 03:02:43 +03:00
parent 0a87ccf435
commit 208e50aa15
1 changed files with 2 additions and 2 deletions
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4
flix/mavlink.ino
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@@ -33,8 +33,8 @@ void sendMavlink() {
if (t - lastSlow >= PERIOD_SLOW) { if (t - lastSlow >= PERIOD_SLOW) {
lastSlow = t; lastSlow = t;
mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
MAV_AUTOPILOT_GENERIC, MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (armed * MAV_MODE_FLAG_SAFETY_ARMED) | ((mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED),
0, MAV_STATE_STANDBY); 0, MAV_STATE_STANDBY);
sendMessage(&msg); sendMessage(&msg);
} }