void mavlink_init(void) { mavlink_system.sysid = MAVLINK_SYSID; // System ID, 1-255 mavlink_system.compid = MAV_COMP_ID_MISSIONPLANNER; // Component/Subsystem ID, 1-255 get_pprz_git_version(custom_version); mavlink_mission_init(&mission_mgr); #if PERIODIC_TELEMETRY && defined TELEMETRY_MAVLINK_NB_MSG register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_HEARTBEAT, mavlink_send_heartbeat); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_SYS_STATUS, mavlink_send_sys_status); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_SYSTEM_TIME, mavlink_send_system_time); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_ATTITUDE, mavlink_send_attitude); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, mavlink_send_attitude_quaternion); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_LOCAL_POSITION_NED, mavlink_send_local_position_ned); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, mavlink_send_global_position_int); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_GPS_RAW_INT, mavlink_send_gps_raw_int); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_RC_CHANNELS, mavlink_send_rc_channels); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_BATTERY_STATUS, mavlink_send_battery_status); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_AUTOPILOT_VERSION, mavlink_send_autopilot_version); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, mavlink_send_gps_global_origin); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_GPS_STATUS, mavlink_send_gps_status); register_periodic_telemetry(&mavlink_telemetry, MAVLINK_MSG_ID_VFR_HUD, mavlink_send_vfr_hud); #endif }
/** * MAVLink initialization */ void mavlink_init(void) { mavlink_system.sysid = AC_ID; // System ID, 1-255 mavlink_system.compid = MAV_COMP_ID_MISSIONPLANNER; // Component/Subsystem ID, 1-255 get_pprz_git_version(custom_version); mavlink_mission_init(&mission_mgr); }