Use again the heartbeat instead of bytes received to determine if a link is active

src/Vehicle/Vehicle.cc

@@ -2490,6 +2490,7 @@ void Vehicle::_linkActiveChanged(LinkInterface *link, bool active)
         }
     } else {
         qgcApp()->showMessage((tr("communication to auxiliary link %2 %3")).arg(link->getName()).arg(active ? "regained" : "lost"));
+        _updatePriorityLink(false, true);
     }
 }
 

src/comm/LinkInterface.cc

@@ -28,7 +28,7 @@ LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
     , _active                   (false)
     , _enableRateCollection     (false)
     , _decodedFirstMavlinkPacket(false)
-    , _bytesReceivedTimer(NULL)
+    , _heartbeatReceivedTimer(NULL)
 {
     _config->setLink(this);
 
@@ -161,8 +161,7 @@ void LinkInterface::_setMavlinkChannel(uint8_t channel)
     _mavlinkChannel = channel;
 }
 
-
-void LinkInterface::_bytesReceivedTimeout()
+void LinkInterface::_heartbeatReceivedTimeout()
 {
     if (_active && !_highLatency) {
         setActive(false);
@@ -170,21 +169,21 @@ void LinkInterface::_bytesReceivedTimeout()
 }
 
 void LinkInterface::timerStart() {
-    if (_bytesReceivedTimer) {
-        _bytesReceivedTimer->start();
+    if (_heartbeatReceivedTimer) {
+        _heartbeatReceivedTimer->start();
     } else {
-        _bytesReceivedTimer = new QTimer();
-        _bytesReceivedTimer->setInterval(_bytesReceivedTimeoutMSecs);
-        _bytesReceivedTimer->setSingleShot(true);
-        _bytesReceivedTimer->start();
-        QObject::connect(_bytesReceivedTimer, &QTimer::timeout, this, &LinkInterface::_bytesReceivedTimeout);
+        _heartbeatReceivedTimer = new QTimer();
+        _heartbeatReceivedTimer->setInterval(_heartbeatReceivedTimeoutMSecs);
+        _heartbeatReceivedTimer->setSingleShot(true);
+        _heartbeatReceivedTimer->start();
+        QObject::connect(_heartbeatReceivedTimer, &QTimer::timeout, this, &LinkInterface::_heartbeatReceivedTimeout);
     }
 }
 
 void LinkInterface::timerStop() {
-    if (_bytesReceivedTimer) {
-        _bytesReceivedTimer->stop();
-        QObject::disconnect(_bytesReceivedTimer, &QTimer::timeout, this, &LinkInterface::_bytesReceivedTimeout);
-        delete _bytesReceivedTimer;
+    if (_heartbeatReceivedTimer) {
+        _heartbeatReceivedTimer->stop();
+        QObject::disconnect(_heartbeatReceivedTimer, &QTimer::timeout, this, &LinkInterface::_heartbeatReceivedTimeout);
+        delete _heartbeatReceivedTimer;
     }
 }

src/comm/LinkInterface.h

@@ -154,7 +154,7 @@ public slots:
 private slots:
     virtual void _writeBytes(const QByteArray) = 0;
 
-    void _bytesReceivedTimeout(void);
+    void _heartbeatReceivedTimeout(void);
 
     
 signals:
@@ -298,8 +298,8 @@ private:
     bool _enableRateCollection;
     bool _decodedFirstMavlinkPacket;    ///< true: link has correctly decoded it's first mavlink packet
 
-    static const int    _bytesReceivedTimeoutMSecs = 3500;  // Signal connection lost after 3.5 seconds of no messages
-    QTimer*             _bytesReceivedTimer;
+    static const int    _heartbeatReceivedTimeoutMSecs = 3500;  // Signal connection lost after 3.5 seconds of no messages
+    QTimer*             _heartbeatReceivedTimer;
 };
 
 typedef QSharedPointer<LinkInterface> SharedLinkInterfacePointer;

src/comm/LinkManager.cc

@@ -80,6 +80,8 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
     _autoConnectSettings = toolbox->settingsManager()->autoConnectSettings();
     _mavlinkProtocol = _toolbox->mavlinkProtocol();
 
+    connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &LinkManager::_heartbeatReceived);
+
     connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
     _portListTimer.start(_autoconnectUpdateTimerMSecs); // timeout must be long enough to get past bootloader on second pass
 
@@ -195,7 +197,6 @@ void LinkManager::_addLink(LinkInterface* link)
 
     connect(link, &LinkInterface::communicationError,   _app,               &QGCApplication::criticalMessageBoxOnMainThread);
     connect(link, &LinkInterface::bytesReceived,        _mavlinkProtocol,   &MAVLinkProtocol::receiveBytes);
-    connect(link, &LinkInterface::bytesReceived,        this,               &LinkManager::_bytesReceived);
 
     _mavlinkProtocol->resetMetadataForLink(link);
     _mavlinkProtocol->setVersion(_mavlinkProtocol->getCurrentVersion());
@@ -1005,8 +1006,11 @@ void LinkManager::_freeMavlinkChannel(int channel)
     _mavlinkChannelsUsedBitMask &= ~(1 << channel);
 }
 
-void LinkManager::_bytesReceived(LinkInterface *link, QByteArray bytes) {
-    Q_UNUSED(bytes);
+void LinkManager::_heartbeatReceived(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType) {
+    Q_UNUSED(vehicleId);
+    Q_UNUSED(componentId);
+    Q_UNUSED(vehicleFirmwareType);
+    Q_UNUSED(vehicleType);
 
     link->timerStart();
 

src/comm/LinkManager.h

@@ -204,7 +204,7 @@ private:
     SerialConfiguration* _autoconnectConfigurationsContainsPort(const QString& portName);
 #endif
 
-    void _bytesReceived(LinkInterface* link, QByteArray bytes);
+    void _heartbeatReceived(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType);
 
     bool    _configUpdateSuspended;                     ///< true: stop updating configuration list
     bool    _configurationsLoaded;                      ///< true: Link configurations have been loaded