From d28aa046835e7d0883eea7768e30b5027f5427c7 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 5 Sep 2012 16:05:55 +0200
Subject: [PATCH] Minor polishing on error messages and fixed link outage time
 announcement

---
 src/uas/UAS.cc | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 1ed33ae00..dbb342518 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -204,11 +204,16 @@ void UAS::updateState()
         emit heartbeatTimeout(heartbeatInterval);
         emit heartbeatTimeout();
         connectionLost = true;
-        connectionLossTime = heartbeatInterval;
         QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
         GAudioOutput::instance()->say(audiostring.toLower());
     }
 
+    // Update connection loss time on each iteration
+    if (connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
+    {
+        connectionLossTime = heartbeatInterval;
+    }
+
     // Connection gained
     if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
     {
@@ -1182,6 +1187,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
         case MAVLINK_MSG_ID_NAMED_VALUE_INT:
         case MAVLINK_MSG_ID_MANUAL_CONTROL:
+        case MAVLINK_MSG_ID_HIGHRES_IMU:
             break;
         default:
         {
-- 
2.22.0