Send heartbeat message to AP

[error414]

Hardware

• Nano

• UAV

Firmware version

Firmware settings

Describe the bug

SoftRf UAV does not send mavlink heartbeat message to AP. It's a nice standart to send HB message to tell AP, I'm here. Many others ADSB devices send HB to AP, like picoADSB, TT-SC1, adsbee1090. Inav use HB for detection if ADSB device is connected. The information is shown in INAV OSD, so pilot can check if ADSB device works properly.

To Reproduce

Connect softRf to any AP and check if AP receives any HB mavlink message

Expected behavior

if softRf receives HB then softRf should send HB back with correct parameters, MAV_TYPE_ADSB MAV_AUTOPILOT_INVALID

for example:

 mavlink_msg_heartbeat_pack(
        1,                      // system_id
        MAV_COMP_ID_ADSB,       // component_id = 156 (ADS-B component)
        &msg,
        MAV_TYPE_ADSB,          // type = 23, ADS-B device
        MAV_AUTOPILOT_INVALID,  // autopilot = 8, NOT a flight controller
        0,                      // base_mode
        0,                      // custom_mode
        MAV_STATE_ACTIVE        // system_status = 4, device is active
    );

[lyusupov]

• anonymous user ;

. It's a nice standart to send HB message to tell AP, I'm here.

Give me a reference on an official MAVLINK document where it is written that a MAVLINK V1.0 SLAVE device have to supply the heartbeat message to a MAVLINK V1.0 MASTER AP .

The information is shown in INAV OSD

Unable to reproduce. We do not use INAV OSD.

[error414]

thank for reply, I did not write it well. It's more like "nice to have", and make softrf behaviour same as othes ADSB devices.

Sending HB is not mandatory for MAVLNK SLAVES. All devices I have tried even commercial one as Aerobit tt-sc1 https://www.aerobits.pl/product/tt-sc1/ send HB.

The main benefit is that mavlink master knows about connected ADSB device.

[lyusupov]

If it is not a bug, but RFE ( request for enhancement ) - the GitHub Issues section is not an appropriate area for such reports. Read the template .

If there is a need in that enhancement to be processed toward integration into future SoftRF releases, you should:

1. create your own fork of the vanilla SoftRF repo
2. implement the enhancement in your fork by yourself
3. let me know through this ticket that you are done

Then I may consider to cherry pick one or few of your commits to see if these efforts can be transferred into the future SoftRF releases.

Resolution: deferred

[error414]

changes are done error414@138ffa9

BTW: seems that sending heartbeat is mandatory due to official documentation https://mavlink.io/en/services/heartbeat.html#heartbeat-broadcast-frequency

[lyusupov]

... The information is shown in INAV OSD ...

changes are done error414@138ffa9

Does this work with "INAV OSD" ?
Please, supply any evidence - a photo or a screenshot...

[error414]

Official FW 1.8

downloaded from https://github.com/lyusupov/SoftRF/blob/master/software/firmware/binaries/ESP32C3/SoftRF/SoftRF-firmware-v1.8-ESP32C3.zip

Inav compiled from PR: iNavFlight/inav#11414
No detected HB by inav configurator

No HB detected in inav OSD

---

Patched code 1.8-patched

H - means ADSB has been detected, it's next stage of checking of flight controller status, it means "heading is not valid". It's simulator issue.

In inav configurator is HB detected

---

HW

softRf: Xr1
Inav: MatekH743

[lyusupov]

error414@138ffa9 has been committed as a part of 6ebf7eb

This does not look like a valid GNSS / UNIX time stamp.

Most of time sync critical radio protocols, such as

• Air V7 (FLARM)
• OGNTP
• EASA ADS-L

will not work properly when the time stamp is invalid.