Hi! I have working configuration such as px4
1.5.5 and odroid-c2
with mavros
(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 mavros
.
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] (PX4-Autopilot/mavlink_receiver.cpp at 6609e4843b1ecce8b40cc925b843e5214c0aa358 · PX4/PX4-Autopilot · GitHub)
- 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)