From 91f0b9eee41a8446c0a5ec455fbe3853c5c3eee3 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 16 Jun 2014 17:32:58 +0200 Subject: mavlink: store last heartbeat time in telemetry_status topic --- src/modules/mavlink/mavlink_receiver.cpp | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 33358b7b6..32c5e51dd 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -106,6 +106,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), + _telemetry_heartbeat_time(0), _hil_frames(0), _old_timestamp(0), _hil_local_proj_inited(0), @@ -150,6 +151,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_manual_control(msg); break; + case MAVLINK_MSG_ID_HEARTBEAT: + handle_message_heartbeat(msg); + break; + default: break; } @@ -411,6 +416,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) memset(&tstatus, 0, sizeof(tstatus)); tstatus.timestamp = hrt_absolute_time(); + tstatus.heartbeat_time = _telemetry_heartbeat_time; tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; tstatus.rssi = rstatus.rssi; tstatus.remote_rssi = rstatus.remrssi; @@ -451,6 +457,18 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) } } +void +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) { + _telemetry_heartbeat_time = hrt_absolute_time(); + } +} + void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { -- cgit v1.2.3