Fake heartbeat

[stevejohn163]

I'm using gomavlib to connect to my drone as a GCS. Is there a way to simulate a fake heartbeat for a radio, so that both the GCS and the flight controller (FMU) recognize a radio as being connected? I’d like to then manually send RADIO_STATUS MAVLink messages based on that

[aler9]

Hello, any gomavlib node automatically sends out heartbeats, unless DisableHeartbeat is set to true:

	node := &gomavlib.Node{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointSerial{
				Device: "/dev/ttyUSB0",
				Baud:   57600,
			},
		},
		Dialect:     ardupilotmega.Dialect,
		OutVersion:  gomavlib.V2, // change to V1 if you're unable to communicate with the target
		OutSystemID: 10,
		DisableHeartbeat: false,
	}

If you want to send out heartbeats to simulate additional devices, you can look at how a gomavlib node does it and do the same:

for {

	ticker := time.NewTicker(1 * time.Second)
	defer ticker.Stop()

	for range ticker.C {
		err := node.WriteMessageAll(&common.MessageHeartbeat{
			Type:           common.MAV_TYPE_GCS,
			Autopilot:      common.MAV_AUTOPILOT_INVALID,
			BaseMode:       0,
			CustomMode:     0,
			SystemStatus:   common.MAV_STATE_ACTIVE,
			MavlinkVersion: 3,
		})
	}
}

change MAV_TYPE_GCS to the device you want to simulate.