yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

HEARTBEAT and commander failsafe handling cleanup

Browse Source
This commit is contained in:
Daniel Agar
2018-11-27 17:43:22 -05:00
committed by Beat Küng
parent f794ee0c8a
commit 6dec451bab
10 changed files with 316 additions and 407 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/modules/mavlink/mavlink_receiver.cpp
View File

@@ -1882,17 +1882,19 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
// ignore own heartbeats
if ((msg->sysid != mavlink_system.sysid) && (msg->compid != mavlink_system.compid)) {
telemetry_status_s &tstatus = _mavlink->get_telemetry_status();
/* set heartbeat time and topic time and publish -
* the telem status also gets updated on telemetry events
*/
tstatus.heartbeat_time = tstatus.timestamp;
tstatus.system_id = msg->sysid;
tstatus.component_id = msg->compid;
tstatus.heartbeat_time = hrt_absolute_time();
tstatus.remote_system_id = msg->sysid;
tstatus.remote_component_id = msg->compid;
tstatus.remote_type = hb.type;
tstatus.remote_system_status = hb.system_status;
}
}
}