From 1addbe469eeec56fbfe8af1377a0ea67c9ac2d51 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 12 Feb 2022 21:41:43 -0500 Subject: [PATCH] mavlink: STATUSTEXT increase stale message timeout --- src/modules/mavlink/mavlink_main.cpp | 2 +- src/modules/mavlink/mavlink_main.h | 2 +- src/modules/mavlink/streams/STATUSTEXT.hpp | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 7fb34a583b..e7026348ea 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/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(); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 12b078e97b..536928d9f0 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/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); diff --git a/src/modules/mavlink/streams/STATUSTEXT.hpp b/src/modules/mavlink/streams/STATUSTEXT.hpp index 0ee6e45543..6e33ec8e1a 100644 --- a/src/modules/mavlink/streams/STATUSTEXT.hpp +++ b/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);