diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 26 |
1 files changed, 16 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7458e09f7..b39aebf9e 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -112,7 +112,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), - _telemetry_heartbeat_time(0), _radio_status_available(false), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), @@ -594,11 +593,11 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); + struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); tstatus.timestamp = hrt_absolute_time(); - tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.telem_time = tstatus.timestamp; + /* tstatus.heartbeat_time is set by system heartbeats */ tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; tstatus.rssi = rstatus.rssi; tstatus.remote_rssi = rstatus.remrssi; @@ -655,16 +654,20 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) /* ignore own heartbeats, accept only heartbeats from GCS */ if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { - _telemetry_heartbeat_time = hrt_absolute_time(); + + struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); + + hrt_abstime tnow = hrt_absolute_time(); + + /* always set heartbeat, publish only if telemetry link not up */ + tstatus.heartbeat_time = tnow; /* if no radio status messages arrive, lets at least publish that heartbeats were received */ if (!_radio_status_available) { - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); - - tstatus.timestamp = _telemetry_heartbeat_time; - tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.timestamp = tnow; + /* telem_time indicates the timestamp of a telemetry status packet and we got none */ + tstatus.telem_time = 0; tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; if (_telemetry_status_pub < 0) { @@ -1149,6 +1152,9 @@ MavlinkReceiver::receive_thread(void *arg) _mavlink->handle_message(&msg); } } + + /* count received bytes */ + _mavlink->count_rxbytes(nread); } } |