From 3f359886cdca32184c721404e66f61515a564f07 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Thu, 25 Apr 2019 16:31:59 -0700 Subject: [PATCH] Copter: move heartbeat sending to gcs instead of by vehicles --- ArduCopter/ArduCopter.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp index 2da93ee51e..ef78384c53 100644 --- a/ArduCopter/ArduCopter.cpp +++ b/ArduCopter/ArduCopter.cpp @@ -136,7 +136,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = { SCHED_TASK(landinggear_update, 10, 75), SCHED_TASK(lost_vehicle_check, 10, 50), SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_receive, 400, 180), - SCHED_TASK(gcs_send_heartbeat, 1, 110), SCHED_TASK_CLASS(GCS, (GCS*)&copter._gcs, update_send, 400, 550), #if MOUNT == ENABLED SCHED_TASK_CLASS(AP_Mount, &copter.camera_mount, update, 50, 75),