[TMTC] Add ack and update mavlink_skyward_lib submodule.

.gitmodules

 [submodule "libs/miosix-kernel"]
 	path = libs/miosix-kernel
 	url = https://github.com/carpikes/miosix-kernel.git
-	branch = testing
+	branch = master
 [submodule "libs/mavlink_skyward_lib"]
 	path = libs/mavlink_skyward_lib
 	url = https://github.com/skyward-er/mavlink_skyward_lib

mavlink_skyward_lib @ 8a9dbf06

-Subproject commit 0b9ed3c06795986bf6a815b6539b38ade5ebe9d4
+Subproject commit 8a9dbf0678cf4e956f2e6960b30e3732cf03ca9d

src/shared/boards/Homeone/TMTCManager/TCHandler.h

@@ -45,11 +45,6 @@ public:
         printf("Received ping\n");
     }
 
-    /* TEST_MSG message handler */
-    static void handleTestMsg(mavlink_test_msg_t* msg) {
-        printf("Received test message\n");
-        
-    }
 };
 
 #endif
\ No newline at end of file

src/shared/boards/Homeone/TMTCManager/TMTCManager.cpp

@@ -26,7 +26,7 @@
  * Constructor: initialise objects (has memory allocation).
  */
 TMTCManager::TMTCManager() {
-    gamma = new Gamma868("/dev/tty");
+    gamma = new Gamma868("/dev/radio");
     outBuffer = new CircularBuffer(TMTC_OUT_BUFFER_SIZE);
     //TODO: check gamma status and configuration
     senderThread = miosix::Thread::create(senderLauncher, TMTC_SENDER_STACKSIZE, TMTC_SENDER_PRIORITY,
@@ -90,8 +90,7 @@ void TMTCManager::runReceiver() {
 								msg.msgid, msg.seq, msg.compid, msg.sysid);
 
 			// If the received message is not an ACK, send an ACK back to ground 	
-//			TODO: create ACK message in mavlink
-//			if(msg.msgid != MAVLINK_MSG_ID_ACK)
+			if(msg.msgid != MAVLINK_MSG_ID_ACK)
 				sendAck(&msg);
 
 			// Handle the message depending on the message type 
@@ -103,13 +102,6 @@ void TMTCManager::runReceiver() {
 			        TCHandler::handlePing(&ping);
     			    break;
 			    }
-			    case MAVLINK_MSG_ID_TEST_MSG:
-			    {
-			        mavlink_test_msg_t test;
-			        mavlink_msg_test_msg_decode(&msg, &test);
-			        TCHandler::handleTestMsg(&test);
-    			    break;
-			    }
 			}
 
 		}
@@ -122,7 +114,7 @@ void TMTCManager::runReceiver() {
 void TMTCManager::sendAck(mavlink_message_t* msg){
 	// Create ack message 
 	mavlink_message_t ack_msg;
-	//TODO: mavlink_msg_ack_pack(SYS_ID,COMPONENT_ID, &ack_msg, msg->msgid, msg->seq);
+	mavlink_msg_ack_pack(1, 1, &ack_msg, msg->msgid, msg->seq);
 
 	// Send message back to the sender through the callback 
 	bool ackSent = enqueueMsg( (uint8_t*)&ack_msg, sizeof(ack_msg) );