Commit cb2892bc authored by Don Gagne's avatar Don Gagne

One heartbeat per-link, not per-vehicle

parent 128b8d8e
......@@ -303,20 +303,27 @@ void MultiVehicleManager::setGcsHeartbeatEnabled(bool gcsHeartBeatEnabled)
void MultiVehicleManager::_sendGCSHeartbeat(void)
{
for (int i=0; i< _vehicles.count(); i++) {
Vehicle* vehicle = qobject_cast<Vehicle*>(_vehicles[i]);
mavlink_message_t message;
mavlink_msg_heartbeat_pack_chan(_mavlinkProtocol->getSystemId(),
_mavlinkProtocol->getComponentId(),
vehicle->priorityLink()->mavlinkChannel(),
&message,
MAV_TYPE_GCS, // MAV_TYPE
MAV_AUTOPILOT_INVALID, // MAV_AUTOPILOT
MAV_MODE_MANUAL_ARMED, // MAV_MODE
0, // custom mode
MAV_STATE_ACTIVE); // MAV_STATE
vehicle->sendMessageOnLink(vehicle->priorityLink(), message);
// Send a heartbeat out on each link
QmlObjectListModel* links = _toolbox->linkManager()->links();
for (int i=0; i<links->count(); i++) {
LinkInterface* link = links->value<LinkInterface*>(i);
if (link->isConnected()) {
mavlink_message_t message;
mavlink_msg_heartbeat_pack_chan(_mavlinkProtocol->getSystemId(),
_mavlinkProtocol->getComponentId(),
link->mavlinkChannel(),
&message,
MAV_TYPE_GCS, // MAV_TYPE
MAV_AUTOPILOT_INVALID, // MAV_AUTOPILOT
MAV_MODE_MANUAL_ARMED, // MAV_MODE
0, // custom mode
MAV_STATE_ACTIVE); // MAV_STATE
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &message);
link->writeBytesSafe((const char*)buffer, len);
}
}
}
......
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