diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9349789432dbc0295322e670f5070e94ec2a250b..5bf5d06c47fd419392462b09501dbdffd2d1b612 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -10039,6 +10039,7 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
0
2
0
+ true
Tailsitter
Tiltrotor
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index fab58588246f8f8a0cf98208eea4700079bf5299..df21fd0e354582a6306a7e354856c02c6966fc8c 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -953,6 +953,7 @@ void Vehicle::_handleVfrHud(mavlink_message_t& message)
_airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
_groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
_climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
+ _throttlePctFact.setRawValue(vfrHud.throttle);
}
void Vehicle::_handleEstimatorStatus(mavlink_message_t& message)
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index 6d923b8edc723e5ea862e7b7577369e3c339b17f..f35f87f965f400c6dcccb0db95f20853cabd4bdc 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -267,6 +267,13 @@ void FirmwareUpgradeController::_initFirmwareHash()
{ AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/omnibus_f4sd_default.px4"},
{ AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/omnibus_f4sd_default.px4"},
};
+
+ //////////////////////////////////// FMUK66V3 firmwares //////////////////////////////////////////////////
+ FirmwareToUrlElement_t rgFMUK66V3FirmwareArray[] = {
+ { AutoPilotStackPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/nxp_fmuk66-v3_default.px4"},
+ { AutoPilotStackPX4, BetaFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/nxp_fmuk66-v3_default.px4"},
+ { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/nxp_fmuk66-v3_default.px4"},
+ };
/////////////////////////////// px4flow firmwares ///////////////////////////////////////
FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
@@ -454,6 +461,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
const FirmwareToUrlElement_t& element = rgOmnibusF4SDFirmwareArray[i];
_rgOmnibusF4SDFirmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
}
+
+ size = sizeof(rgFMUK66V3FirmwareArray)/sizeof(rgFMUK66V3FirmwareArray[0]);
+ for (int i = 0; i < size; i++) {
+ const FirmwareToUrlElement_t& element = rgFMUK66V3FirmwareArray[i];
+ _rgFMUK66V3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+ }
size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
for (int i = 0; i < size; i++) {