mavlink: STATUSTEXT increase stale message timeout

src/modules/mavlink/mavlink_main.cpp

@@ -776,7 +776,7 @@ void Mavlink::send_finish()
 # endif // CONFIG_NET
 
 		if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() &&
-		    (!get_client_source_initialized() || !is_connected())) {
+		    (!get_client_source_initialized() || !is_gcs_connected())) {
 
 			if (!_broadcast_address_found) {
 				find_broadcast_address();

src/modules/mavlink/mavlink_main.h

@@ -281,7 +281,7 @@ public:
 
 	bool			get_forwarding_on() { return _forwarding_on; }
 
-	bool			is_connected() { return _tstatus.heartbeat_type_gcs; }
+	bool			is_gcs_connected() { return _tstatus.heartbeat_type_gcs; }
 
 #if defined(MAVLINK_UDP)
 	static Mavlink 		*get_instance_for_network_port(unsigned long port);

src/modules/mavlink/streams/STATUSTEXT.hpp

@@ -68,7 +68,7 @@ private:
 
 	bool send() override
 	{
-		if (_mavlink->is_connected()) {
+		if (_mavlink->is_gcs_connected()) {
 			while (_mavlink_log_sub.updated() && (_mavlink->get_free_tx_buf() >= get_size())) {
 
 				const unsigned last_generation = _mavlink_log_sub.get_last_generation();
@@ -77,7 +77,7 @@ private:
 
 				if (_mavlink_log_sub.update(&mavlink_log)) {
 					// don't send stale messages
-					if (hrt_elapsed_time(&mavlink_log.timestamp) < 2_s) {
+					if (hrt_elapsed_time(&mavlink_log.timestamp) < 5_s) {
 
 						if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) {
 							perf_count(_missed_msg_count_perf);