public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_HEARTBEAT;
              
        packet.payload.putUnsignedInt(custom_mode);
              
        packet.payload.putUnsignedByte(type);
              
        packet.payload.putUnsignedByte(autopilot);
              
        packet.payload.putUnsignedByte(base_mode);
              
        packet.payload.putUnsignedByte(system_status);
              
        packet.payload.putUnsignedByte(mavlink_version);
        
        return packet;
    }