ArduPlane: move handling of last-seen-SYSID_MYGCS up to GCS base class

ArduPlane/ArduPlane.cpp

@@ -252,7 +252,7 @@ void Plane::afs_fs_check(void)
 #else
     const bool fence_breached = false;
 #endif
-    afs.check(failsafe.last_heartbeat_ms, fence_breached, failsafe.AFS_last_valid_rc_ms);
+    afs.check(fence_breached, failsafe.AFS_last_valid_rc_ms);
 }
 #endif
 

ArduPlane/GCS_Mavlink.cpp

@@ -1152,17 +1152,9 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
         manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
         manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
 
-        // a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-        plane.failsafe.last_heartbeat_ms = tnow;
-        break;
-    }
-    
-    case MAVLINK_MSG_ID_HEARTBEAT:
-    {
-        // We keep track of the last time we received a heartbeat from
-        // our GCS for failsafe purposes
-        if (msg.sysid != plane.g.sysid_my_gcs) break;
-        plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
+        // a manual control message is considered to be a 'heartbeat'
+        // from the ground station for failsafe purposes
+        gcs().sysid_myggcs_seen(tnow);
         break;
     }
 
@@ -1417,13 +1409,6 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
     } // end switch
 } // end handle mavlink
 
-// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg)
-{
-    plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
-    GCS_MAVLINK::handle_rc_channels_override(msg);
-}
-
 MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_long_t &packet)
 {
     const MAV_RESULT result = GCS_MAVLINK::handle_command_do_set_mission_current(packet);

ArduPlane/GCS_Mavlink.h

@@ -50,7 +50,6 @@ private:
     void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
-    void handle_rc_channels_override(const mavlink_message_t &msg) override;
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
 

ArduPlane/Plane.h

@@ -334,9 +334,6 @@ private:
         // number of low throttle values
         uint8_t throttle_counter;
 
-        // the time when the last HEARTBEAT message arrived from a GCS
-        uint32_t last_heartbeat_ms;
-
         // A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
         uint32_t short_timer_ms;
 

ArduPlane/system.cpp

@@ -200,7 +200,7 @@ void Plane::startup_ground(void)
 
     // reset last heartbeat time, so we don't trigger failsafe on slow
     // startup
-    failsafe.last_heartbeat_ms = millis();
+    gcs().sysid_myggcs_seen(AP_HAL::millis());
 
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we are
@@ -297,7 +297,8 @@ bool Plane::set_mode_by_number(const Mode::Number new_mode_number, const ModeRea
 
 void Plane::check_long_failsafe()
 {
-    uint32_t tnow = millis();
+    const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
+    const uint32_t tnow = millis();
     // only act on changes
     // -------------------
     if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
@@ -310,13 +311,13 @@ void Plane::check_long_failsafe()
             (tnow - radio_timeout_ms) > g.fs_timeout_long*1000) {
             failsafe_long_on_event(FAILSAFE_LONG, ModeReason::RADIO_FAILSAFE);
         } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == &mode_auto &&
-                   failsafe.last_heartbeat_ms != 0 &&
-                   (tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
+                   gcs_last_seen_ms != 0 &&
+                   (tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
         } else if ((g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HEARTBEAT ||
                     g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI) &&
-                   failsafe.last_heartbeat_ms != 0 &&
-                   (tnow - failsafe.last_heartbeat_ms) > g.fs_timeout_long*1000) {
+                   gcs_last_seen_ms != 0 &&
+                   (tnow - gcs_last_seen_ms) > g.fs_timeout_long*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, ModeReason::GCS_FAILSAFE);
         } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI && 
                    gcs().chan(0) != nullptr &&
@@ -332,7 +333,7 @@ void Plane::check_long_failsafe()
         }
         // We do not change state but allow for user to change mode
         if (failsafe.state == FAILSAFE_GCS && 
-            (tnow - failsafe.last_heartbeat_ms) < timeout_seconds*1000) {
+            (tnow - gcs_last_seen_ms) < timeout_seconds*1000) {
             failsafe_long_off_event(ModeReason::GCS_FAILSAFE);
         } else if (failsafe.state == FAILSAFE_LONG && 
                    !failsafe.rc_failsafe) {