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GCS_MAVLink: move heartbeat sending to gcs instead of by vehicles

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Tom Pittenger 2019-04-25 16:22:27 -07:00 committed by Tom Pittenger
parent 0d1b7b90b9
commit 1f3c3c853f
1 changed files with 7 additions and 0 deletions
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7
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4428,10 +4428,17 @@ void GCS_MAVLINK::initialise_message_intervals_from_streamrates()
for (uint8_t i=0; all_stream_entries[i].ap_message_ids != nullptr; i++) { for (uint8_t i=0; all_stream_entries[i].ap_message_ids != nullptr; i++) {
initialise_message_intervals_for_stream(all_stream_entries[i].stream_id); initialise_message_intervals_for_stream(all_stream_entries[i].stream_id);
} }
set_mavlink_message_id_interval(MAVLINK_MSG_ID_HEARTBEAT, 1000);
} }
bool GCS_MAVLINK::get_default_interval_for_ap_message(const ap_message id, uint16_t &interval) const bool GCS_MAVLINK::get_default_interval_for_ap_message(const ap_message id, uint16_t &interval) const
{ {
if (id == MSG_HEARTBEAT) {
// handle heartbeat requests as a special case because heartbeat is not "streamed"
interval = 1000;
return true;
}
// find which stream this ap_message is in // find which stream this ap_message is in
for (uint8_t i=0; all_stream_entries[i].ap_message_ids != nullptr; i++) { for (uint8_t i=0; all_stream_entries[i].ap_message_ids != nullptr; i++) {
const GCS_MAVLINK::stream_entries &entries = all_stream_entries[i]; const GCS_MAVLINK::stream_entries &entries = all_stream_entries[i];