Setup SPI to support Lora module, make free space for lora sw,

setup forwarding on nonconected mavlink, setup custom mavlink stream
ThunderFly-aerospace · Nov 30, 2023 · c0bfea7 · c0bfea7
1 parent cad595c
commit c0bfea7
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Showing 4 changed files with 15 additions and 5 deletions.
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
@@ -56,7 +56,7 @@ CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+#CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y

diff --git a/boards/px4/fmu-v5/src/spi.cpp b/boards/px4/fmu-v5/src/spi.cpp
@@ -51,7 +51,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 		initSPIBusExternal(SPI::Bus::SPI5, {
 			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
 			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin11})
 		}),
 		initSPIBusExternal(SPI::Bus::SPI6, {

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -476,10 +476,11 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 	LockGuard lg{mavlink_module_mutex};
 
 	for (Mavlink *inst : mavlink_module_instances) {
-		if (inst && (inst != self) && (inst->get_forwarding_on())) {
+		if (inst && (inst != self) && (inst->get_forwarding_on())) {      
 			// Pass message only if target component was seen before
 			if (inst->_receiver.component_was_seen(target_system_id, target_component_id)) {
 				inst->pass_message(msg);
+        PX4_INFO("forwarding %d %d",target_system_id,target_component_id);
 			}
 		}
 	}
@@ -1692,7 +1693,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 
 	/* fallthrough */
 	case MAVLINK_MODE_CUSTOM:
-		//stream nothing
+		configure_stream_local("ATTITUDE", 0.1f);
+    configure_stream_local("ALTITUDE", 0.1f);
+		configure_stream_local("GLOBAL_POSITION_INT", 0.2f);
+		configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f);
+		configure_stream_local("GPS_RAW_INT", 0.25f);
+		configure_stream_local("GPS_STATUS", 0.1f);
+		configure_stream_local("HOME_POSITION", 0.05f);
+		configure_stream_local("HYGROMETER_SENSOR", 0.05f);
+		configure_stream_local("BATTERY_STATUS", 0.05f);
 		break;
 
 	case MAVLINK_MODE_CONFIG: // USB

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -3291,7 +3291,8 @@ bool MavlinkReceiver::component_was_seen(int system_id, int component_id)
 {
 	// For system broadcast messages return true if at least one component was seen before
 	if (system_id == 0) {
-		return _component_states_count > 0;
+		//return _component_states_count > 0;
+    return true;
 	}
 
 	for (unsigned i = 0; i < _component_states_count; ++i) {