From 5c7e33d2cb23bfbdd33c84ab0a144ad1cf5617bc Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 24 Nov 2025 13:29:51 -0900 Subject: [PATCH] fixup mavlink, enable development on ARK FPV --- boards/ark/fpv/default.px4board | 1 + src/modules/mavlink/mavlink | 2 +- src/modules/mavlink/mavlink_receiver.cpp | 7 +----- src/modules/mavlink/streams/AM32_EEPROM.hpp | 25 +++++++++++---------- 4 files changed, 16 insertions(+), 19 deletions(-) diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board index 368c1af8e3..75f88802ac 100644 --- a/boards/ark/fpv/default.px4board +++ b/boards/ark/fpv/default.px4board @@ -59,6 +59,7 @@ CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_MANUAL_CONTROL=y CONFIG_MODULES_MAVLINK=y +CONFIG_MAVLINK_DIALECT="development" CONFIG_MODULES_MC_ATT_CONTROL=y CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink index 53b80cf0b2..458b42a3f0 160000 --- a/src/modules/mavlink/mavlink +++ b/src/modules/mavlink/mavlink @@ -1 +1 @@ -Subproject commit 53b80cf0b26b60d005be47281b12a5d808e31baf +Subproject commit 458b42a3f0c754a4a9e8f860a99dd391adee7d78 diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 95e401c80e..5655331389 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1319,14 +1319,9 @@ MavlinkReceiver::handle_message_am32_eeprom(mavlink_message_t *msg) mavlink_am32_eeprom_t message; mavlink_msg_am32_eeprom_decode(msg, &message); - // Only handle write requests - if (message.mode == 0) { - return; - } - am32_eeprom_write_s eeprom{}; eeprom.timestamp = hrt_absolute_time(); - eeprom.index = message.index; + eeprom.index = message.esc_index; uint8_t min_length = sizeof(eeprom.data); int length = message.length; diff --git a/src/modules/mavlink/streams/AM32_EEPROM.hpp b/src/modules/mavlink/streams/AM32_EEPROM.hpp index 21006e5b73..69c1f98b48 100644 --- a/src/modules/mavlink/streams/AM32_EEPROM.hpp +++ b/src/modules/mavlink/streams/AM32_EEPROM.hpp @@ -57,16 +57,6 @@ private: uORB::Subscription _am32_eeprom_read_sub{ORB_ID(am32_eeprom_read)}; - bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override - { - emit_message(true) - } - - bool send() override - { - emit_message(false); - } - bool emit_message(bool force) { am32_eeprom_read_s eeprom = {}; @@ -80,8 +70,8 @@ private: msg.length = sizeof(eeprom.data); PX4_INFO("Sending AM32_EEPROM on channel %d", _mavlink->get_channel()); - PX4_INFO("ESC%d", msg.index + 1); - PX4_INFO("index %d", msg.index); + PX4_INFO("ESC%d", msg.esc_index + 1); + PX4_INFO("index %d", msg.esc_index); PX4_INFO("length %d", msg.length); mavlink_msg_am32_eeprom_send_struct(_mavlink->get_channel(), &msg); @@ -91,6 +81,17 @@ private: return false; } + + bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override + { + return emit_message(true); + } + + bool send() override + { + return emit_message(false); + } + }; #endif // AM32_EEPROM_HPP