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/*===================================================================
======================================================================*/
/**
* @file
* @brief Implementation of class MAVLinkProtocol
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#include <inttypes.h>
#include <iostream>
#include <QDebug>
#include <QTime>
#include <QApplication>
#include <QMessageBox>
#include <QSettings>
#include <QDesktopServices>
#include <QtEndian>
#include "MAVLinkProtocol.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASInterface.h"
#include "UAS.h"
#include "SlugsMAV.h"
#include "PxQuadMAV.h"
#include "ArduPilotMegaMAV.h"
#include "configuration.h"
#include "LinkManager.h"
#include "QGCMAVLink.h"
#include "QGCMAVLinkUASFactory.h"
#include "QGC.h"
#ifdef QGC_PROTOBUF_ENABLED
#include <google/protobuf/descriptor.h>
#endif
/**
* The default constructor will create a new MAVLink object sending heartbeats at
* the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
*/
MAVLinkProtocol::MAVLinkProtocol() :
heartbeatTimer(new QTimer(this)),
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(false),
m_multiplexingEnabled(false),
m_authEnabled(false),
m_loggingEnabled(false),
m_logfile(NULL),
m_enable_version_check(true),
m_paramRetransmissionTimeout(350),
m_paramRewriteTimeout(500),
m_paramGuardEnabled(true),
m_actionGuardEnabled(false),
m_actionRetransmissionTimeout(100),
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
{
m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
loadSettings();
//start(QThread::LowPriority);
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
heartbeatTimer->start(1000/heartbeatRate);
// All the *Counter variables are not initialized here, as they should be initialized
// on a per-link basis before those links are used. @see resetMetadataForLink().
// Initialize the list for tracking dropped messages to invalid.
for (int i = 0; i < 256; i++)
{
for (int j = 0; j < 256; j++)
{
lastIndex[i][j] = -1;
}
}
emit versionCheckChanged(m_enable_version_check);
}
void MAVLinkProtocol::loadSettings()
{
// Load defaults from settings
QSettings settings;
settings.sync();
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
enableHeartbeats(settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool());
enableVersionCheck(settings.value("VERSION_CHECK_ENABLED", m_enable_version_check).toBool());
enableMultiplexing(settings.value("MULTIPLEXING_ENABLED", m_multiplexingEnabled).toBool());
// Only set logfile if there is a name present in settings
if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
{
m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
}
else if (m_logfile == NULL)
{
m_logfile = new QFile(QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink");
}
// Enable logging
enableLogging(settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool());
// Only set system id if it was valid
int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
if (temp > 0 && temp < 256)
{
systemId = temp;
}
// Set auth key
m_authKey = settings.value("GCS_AUTH_KEY", m_authKey).toString();
enableAuth(settings.value("GCS_AUTH_ENABLED", m_authEnabled).toBool());
// Parameter interface settings
bool ok;
temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout).toInt(&ok);
if (ok) m_paramRetransmissionTimeout = temp;
temp = settings.value("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout).toInt(&ok);
if (ok) m_paramRewriteTimeout = temp;
m_paramGuardEnabled = settings.value("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled).toBool();
settings.endGroup();
}
void MAVLinkProtocol::storeSettings()
{
// Store settings
QSettings settings;
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
settings.setValue("HEARTBEATS_ENABLED", m_heartbeatsEnabled);
settings.setValue("LOGGING_ENABLED", m_loggingEnabled);
settings.setValue("VERSION_CHECK_ENABLED", m_enable_version_check);
settings.setValue("MULTIPLEXING_ENABLED", m_multiplexingEnabled);
settings.setValue("GCS_SYSTEM_ID", systemId);
settings.setValue("GCS_AUTH_KEY", m_authKey);
settings.setValue("GCS_AUTH_ENABLED", m_authEnabled);
if (m_logfile)
{
// Logfile exists, store the name
settings.setValue("LOGFILE_NAME", m_logfile->fileName());
}
// Parameter interface settings
settings.setValue("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout);
settings.setValue("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout);
settings.setValue("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled);
settings.endGroup();
settings.sync();
//qDebug() << "Storing settings!";
}
MAVLinkProtocol::~MAVLinkProtocol()
{
storeSettings();
if (m_logfile)
{
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
delete m_logfile;
m_logfile = NULL;
}
}
QString MAVLinkProtocol::getLogfileName()
{
if (m_logfile)
{
return m_logfile->fileName();
}
else
{
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "/qgroundcontrol_packetlog.mavlink";
}
}
void MAVLinkProtocol::resetMetadataForLink(const LinkInterface *link)
{
int linkId = link->getId();
totalReceiveCounter[linkId] = 0;
totalLossCounter[linkId] = 0;
totalErrorCounter[linkId] = 0;
currReceiveCounter[linkId] = 0;
currLossCounter[linkId] = 0;
}
void MAVLinkProtocol::linkStatusChanged(bool connected)
{
LinkInterface* link = qobject_cast<LinkInterface*>(QObject::sender());
if (link) {
if (connected) {
// Send command to start MAVLink
// XXX hacky but safe
// Start NSH
const char init[] = {0x0d, 0x0d, 0x0d};
link->writeBytes(init, sizeof(init));
const char* cmd = "sh /etc/init.d/rc.usb\n";
link->writeBytes(cmd, strlen(cmd));
link->writeBytes(init, 4);
}
}
}
/**
* This method parses all incoming bytes and constructs a MAVLink packet.
* It can handle multiple links in parallel, as each link has it's own buffer/
* parsing state machine.
* @param link The interface to read from
* @see LinkInterface
**/
void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
// receiveMutex.lock();
mavlink_message_t message;
mavlink_status_t status;
// Cache the link ID for common use.
int linkId = link->getId();
static int mavlink09Count = 0;
static int nonmavlinkCount = 0;
static bool decodedFirstPacket = false;
static bool warnedUser = false;
static bool checkedUserNonMavlink = false;
static bool warnedUserNonMavlink = false;
// FIXME: Add check for if link->getId() >= MAVLINK_COMM_NUM_BUFFERS
for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(linkId, (uint8_t)(b[position]), &message, &status);
if ((uint8_t)b[position] == 0x55) mavlink09Count++;
if ((mavlink09Count > 100) && !decodedFirstPacket && !warnedUser)
{
warnedUser = true;
// Obviously the user tries to use a 0.9 autopilot
// with QGroundControl built for version 1.0
emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
}
if (decodeState == 0 && !decodedFirstPacket)
{
nonmavlinkCount++;
if (nonmavlinkCount > 2000 && !warnedUserNonMavlink)
{
//2000 bytes with no mavlink message. Are we connected to a mavlink capable device?
if (!checkedUserNonMavlink)
{
link->requestReset();
checkedUserNonMavlink = true;
}
else
{
warnedUserNonMavlink = true;
emit protocolStatusMessage("MAVLink Baud Rate Mismatch", "Please check if the baud rates of QGroundControl and your autopilot are the same.");
}
}
}
if (decodeState == 1)
{
decodedFirstPacket = true;
if(message.msgid == MAVLINK_MSG_ID_PING)
{
// process ping requests (tgt_system and tgt_comp must be zero)
mavlink_ping_t ping;
mavlink_msg_ping_decode(&message, &ping);
if(!ping.target_system && !ping.target_component)
{
mavlink_message_t msg;
mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
sendMessage(msg);
}
}
#if defined(QGC_PROTOBUF_ENABLED)
if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
{
mavlink_extended_message_t extended_message;
extended_message.base_msg = message;
// read extended header
uint8_t* payload = reinterpret_cast<uint8_t*>(message.payload64);
memcpy(&extended_message.extended_payload_len, payload + 3, 4);
// Check if message is valid
if
(b.size() != MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_EXTENDED_HEADER_LEN+ extended_message.extended_payload_len)
{
//invalid message
qDebug() << "GOT INVALID EXTENDED MESSAGE, ABORTING";
return;
}
const uint8_t* extended_payload = reinterpret_cast<const uint8_t*>(b.constData()) + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_EXTENDED_HEADER_LEN;
// copy extended payload data
memcpy(extended_message.extended_payload, extended_payload, extended_message.extended_payload_len);
#if defined(QGC_USE_PIXHAWK_MESSAGES)
if (protobufManager.cacheFragment(extended_message))
{
std::tr1::shared_ptr<google::protobuf::Message> protobuf_msg;
if (protobufManager.getMessage(protobuf_msg))
{
const google::protobuf::Descriptor* descriptor = protobuf_msg->GetDescriptor();
if (!descriptor)
{
continue;
}
const google::protobuf::FieldDescriptor* headerField = descriptor->FindFieldByName("header");
if (!headerField)
{
continue;
}
const google::protobuf::Descriptor* headerDescriptor = headerField->message_type();
if (!headerDescriptor)
{
continue;
}
const google::protobuf::FieldDescriptor* sourceSysIdField = headerDescriptor->FindFieldByName("source_sysid");
if (!sourceSysIdField)
{
continue;
}
const google::protobuf::Reflection* reflection = protobuf_msg->GetReflection();
const google::protobuf::Message& headerMsg = reflection->GetMessage(*protobuf_msg, headerField);
const google::protobuf::Reflection* headerReflection = headerMsg.GetReflection();
int source_sysid = headerReflection->GetInt32(headerMsg, sourceSysIdField);
UASInterface* uas = UASManager::instance()->getUASForId(source_sysid);
if (uas != NULL)
{
emit extendedMessageReceived(link, protobuf_msg);
}
}
}
#endif
position += extended_message.extended_payload_len;
continue;
}
#endif
// Log data
if (m_loggingEnabled && m_logfile)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
// Write the uint64 time in microseconds in big endian format before the message.
// This timestamp is saved in UTC time. We are only saving in ms precision because
// getting more than this isn't possible with Qt without a ton of extra code.
quint64 time = (quint64)QDateTime::currentMSecsSinceEpoch() * 1000;
qToBigEndian(time, buf);
// Then write the message to the buffer
int len = mavlink_msg_to_send_buffer(buf + sizeof(quint64), &message);
// Determine how many bytes were written by adding the timestamp size to the message size
len += sizeof(quint64);
// Now write this timestamp/message pair to the log.
QByteArray b((const char*)buf, len);
if(m_logfile->write(b) != len)
{
// If there's an error logging data, raise an alert and stop logging.
emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
enableLogging(false);
}
}
// ORDER MATTERS HERE!
// If the matching UAS object does not yet exist, it has to be created
// before emitting the packetReceived signal
UASInterface* uas = UASManager::instance()->getUASForId(message.sysid);
// Check and (if necessary) create UAS object
if (uas == NULL && message.msgid == MAVLINK_MSG_ID_HEARTBEAT)
{
// ORDER MATTERS HERE!
// The UAS object has first to be created and connected,
// only then the rest of the application can be made aware
// of its existence, as it only then can send and receive
// it's first messages.
// Check if the UAS has the same id like this system
if (message.sysid == getSystemId())
{
emit protocolStatusMessage(tr("SYSTEM ID CONFLICT!"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
}
// Create a new UAS based on the heartbeat received
// Todo dynamically load plugin at run-time for MAV
// WIKISEARCH:AUTOPILOT_TYPE_INSTANTIATION
// First create new UAS object
// Decode heartbeat message
mavlink_heartbeat_t heartbeat;
// Reset version field to 0
heartbeat.mavlink_version = 0;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
// Check if the UAS has a different protocol version
if (m_enable_version_check && (heartbeat.mavlink_version != MAVLINK_VERSION))
{
// Bring up dialog to inform user
if (!versionMismatchIgnore)
{
emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
versionMismatchIgnore = true;
}
// Ignore this message and continue gracefully
continue;
}
// Create a new UAS object
uas = QGCMAVLinkUASFactory::createUAS(this, link, message.sysid, &heartbeat);
}
// Only count message if UAS exists for this message
if (uas != NULL)
{
// Increase receive counter
totalReceiveCounter[linkId]++;
currReceiveCounter[linkId]++;
// Update last message sequence ID
uint8_t expectedIndex;
if (lastIndex[message.sysid][message.compid] == -1)
{
lastIndex[message.sysid][message.compid] = message.seq;
expectedIndex = message.seq;
}
else
{
// NOTE: Using uint8_t here auto-wraps the number around to 0.
expectedIndex = lastIndex[message.sysid][message.compid] + 1;
}
// Make some noise if a message was skipped
//qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "EXPECTED INDEX:" << expectedIndex << "SEQ" << message.seq;
if (message.seq != expectedIndex)
{
// Determine how many messages were skipped accounting for 0-wraparound
int16_t lostMessages = message.seq - expectedIndex;
if (lostMessages < 0)
{
// Usually, this happens in the case of an out-of order packet
lostMessages = 0;
}
else
{
// Console generates excessive load at high loss rates, needs better GUI visualization
//qDebug() << QString("Lost %1 messages for comp %4: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq).arg(message.compid);
}
totalLossCounter[linkId] += lostMessages;
currLossCounter[linkId] += lostMessages;
}
// Update the last sequence ID
lastIndex[message.sysid][message.compid] = message.seq;
// Update on every 32th packet
if (totalReceiveCounter[linkId] % 32 == 0)
{
// Calculate new loss ratio
// Receive loss
float receiveLoss = (double)currLossCounter[linkId]/(double)(currReceiveCounter[linkId]+currLossCounter[linkId]);
receiveLoss *= 100.0f;
currLossCounter[linkId] = 0;
currReceiveCounter[linkId] = 0;
emit receiveLossChanged(message.sysid, receiveLoss);
}
// The packet is emitted as a whole, as it is only 255 - 261 bytes short
// kind of inefficient, but no issue for a groundstation pc.
// It buys as reentrancy for the whole code over all threads
emit messageReceived(link, message);
// Multiplex message if enabled
if (m_multiplexingEnabled)
{
// Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
// Emit message on all links that are currently connected
foreach (LinkInterface* currLink, links)
{
// Only forward this message to the other links,
// not the link the message was received on
if (currLink != link) sendMessage(currLink, message, message.sysid, message.compid);
}
}
}
}
}
}
/**
* @return The name of this protocol
**/
QString MAVLinkProtocol::getName()
{
return QString(tr("MAVLink protocol"));
}
/** @return System id of this application */
int MAVLinkProtocol::getSystemId()
{
return systemId;
}
void MAVLinkProtocol::setSystemId(int id)
{
systemId = id;
}
/** @return Component id of this application */
int MAVLinkProtocol::getComponentId()
{
return QGC::defaultComponentId;
}
/**
* @param message message to send
*/
void MAVLinkProtocol::sendMessage(mavlink_message_t message)
{
// Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
// Emit message on all links that are currently connected
QList<LinkInterface*>::iterator i;
for (i = links.begin(); i != links.end(); ++i)
{
sendMessage(*i, message);
// qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
}
}
/**
* @param link the link to send the message over
* @param message message to send
*/
void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message)
{
// Create buffer
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Rewriting header to ensure correct link ID is set
static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected
if (link->isConnected())
{
// Send the portion of the buffer now occupied by the message
link->writeBytes((const char*)buffer, len);
}
}
/**
* @param link the link to send the message over
* @param message message to send
* @param systemid id of the system the message is originating from
* @param componentid id of the component the message is originating from
*/
void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message, quint8 systemid, quint8 componentid)
{
// Create buffer
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Rewriting header to ensure correct link ID is set
static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
if (link->getId() != 0) mavlink_finalize_message_chan(&message, systemid, componentid, link->getId(), message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected
if (link->isConnected())
{
// Send the portion of the buffer now occupied by the message
link->writeBytes((const char*)buffer, len);
}
}
/**
* The heartbeat is sent out of order and does not reset the
* periodic heartbeat emission. It will be just sent in addition.
* @return mavlink_message_t heartbeat message sent on serial link
*/
void MAVLinkProtocol::sendHeartbeat()
{
if (m_heartbeatsEnabled)
{
mavlink_message_t beat;
mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
sendMessage(beat);
}
if (m_authEnabled)
{
mavlink_message_t msg;
mavlink_auth_key_t auth;
memset(&auth, 0, sizeof(auth));
memcpy(auth.key, m_authKey.toStdString().c_str(), qMin(m_authKey.length(), MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN));
mavlink_msg_auth_key_encode(getSystemId(), getComponentId(), &msg, &auth);
sendMessage(msg);
}
}
/** @param enabled true to enable heartbeats emission at heartbeatRate, false to disable */
void MAVLinkProtocol::enableHeartbeats(bool enabled)
{
m_heartbeatsEnabled = enabled;
emit heartbeatChanged(enabled);
}
void MAVLinkProtocol::enableMultiplexing(bool enabled)
{
bool changed = false;
if (enabled != m_multiplexingEnabled) changed = true;
m_multiplexingEnabled = enabled;
if (changed) emit multiplexingChanged(m_multiplexingEnabled);
}
void MAVLinkProtocol::enableAuth(bool enable)
{
bool changed = false;
m_authEnabled = enable;
if (m_authEnabled != enable) {
changed = true;
}
if (changed) emit authChanged(m_authEnabled);
}
void MAVLinkProtocol::enableParamGuard(bool enabled)
{
if (enabled != m_paramGuardEnabled) {
m_paramGuardEnabled = enabled;
emit paramGuardChanged(m_paramGuardEnabled);
}
}
void MAVLinkProtocol::enableActionGuard(bool enabled)
{
if (enabled != m_actionGuardEnabled) {
m_actionGuardEnabled = enabled;
emit actionGuardChanged(m_actionGuardEnabled);
}
}
void MAVLinkProtocol::setParamRetransmissionTimeout(int ms)
{
if (ms != m_paramRetransmissionTimeout) {
m_paramRetransmissionTimeout = ms;
emit paramRetransmissionTimeoutChanged(m_paramRetransmissionTimeout);
}
}
void MAVLinkProtocol::setParamRewriteTimeout(int ms)
{
if (ms != m_paramRewriteTimeout) {
m_paramRewriteTimeout = ms;
emit paramRewriteTimeoutChanged(m_paramRewriteTimeout);
}
}
void MAVLinkProtocol::setActionRetransmissionTimeout(int ms)
{
if (ms != m_actionRetransmissionTimeout) {
m_actionRetransmissionTimeout = ms;
emit actionRetransmissionTimeoutChanged(m_actionRetransmissionTimeout);
}
}
void MAVLinkProtocol::enableLogging(bool enabled)
{
bool changed = false;
if (enabled != m_loggingEnabled) changed = true;
if (enabled)
{
if (m_logfile && m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
if (m_logfile)
{
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file. Stopping logging.").arg(m_logfile->fileName()));
m_loggingEnabled = false;
}
}
else
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot start logging, no logfile selected."));
}
}
else if (!enabled)
{
if (m_logfile)
{
if (m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
}
}
m_loggingEnabled = enabled;
if (changed) emit loggingChanged(enabled);
}
void MAVLinkProtocol::setLogfileName(const QString& filename)
{
if (!m_logfile)
{
m_logfile = new QFile(filename);
}
else
{
m_logfile->flush();
m_logfile->close();
}
m_logfile->setFileName(filename);
enableLogging(m_loggingEnabled);
}
void MAVLinkProtocol::enableVersionCheck(bool enabled)
{
m_enable_version_check = enabled;
emit versionCheckChanged(enabled);
}
/**
* The default rate is 1 Hertz.
*
* @param rate heartbeat rate in hertz (times per second)
*/
void MAVLinkProtocol::setHeartbeatRate(int rate)
{
heartbeatRate = rate;
heartbeatTimer->setInterval(1000/heartbeatRate);
}
/** @return heartbeat rate in Hertz */
int MAVLinkProtocol::getHeartbeatRate()
{
return heartbeatRate;
}