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GCS_MAVLink: move sending of heartbeats up to GCS_MAVLINK

This commit is contained in:
Peter Barker 2018-05-02 18:37:08 +10:00 committed by WickedShell
parent 5bad067a8d
commit eecdcacf3e
2 changed files with 8 additions and 2 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -150,7 +150,7 @@ public:
uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
// common send functions
void send_heartbeat(void);
void send_heartbeat(void) const;
void send_meminfo(void);
void send_power_status(void);
void send_battery_status(const AP_BattMonitor &battery, const uint8_t instance) const;

8
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1544,7 +1544,7 @@ void GCS_MAVLINK::send_ekf_origin(const Location &ekf_origin) const
/*
Send MAVLink heartbeat
*/
void GCS_MAVLINK::send_heartbeat()
void GCS_MAVLINK::send_heartbeat() const
{
mavlink_msg_heartbeat_send(
chan,
@ -2621,6 +2621,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
ret = true;
break;
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
last_heartbeat_time = AP_HAL::millis();
send_heartbeat();
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus();