Hi! I have working configuration such as
px4 1.5.5 and
ros-kinetic-mavros 0.19.0) connected via
telem2 (baudrate 57600). Alongside with
mavros my own routine is running to read some
mavlink messages which are not available within
Now I’m moving to
px4 1.7.3 and all seems perfect except
mavlink message #253. I can’t receive one with any setup I checked. Could you please explain that or suggest a workaround?
UPD: I’ve found a solution, but I don’t know if it’s a good solution. I’ve made a fix in [mavlink_receiver.cpp#L1658] (https://github.com/PX4/Firmware/blob/6609e4843b1ecce8b40cc925b843e5214c0aa358/src/modules/mavlink/mavlink_receiver.cpp#L1658)
- if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS)
+ if (msg->sysid != mavlink_system.sysid && (hb.type == MAV_TYPE_GCS || hb.type == MAV_TYPE_ONBOARD_CONTROLLER))
After that I can receive STATUSTEXT messages.
This problem occurs when only onboard computer with mavros is connected to the pixhawk (i.e. if I connect QGC via usb port I do receive STATUSTEXT without altering firmware)