Rover: use send_heartbeat() wrapper

9 years ago · 01caa7388a
1 changed files with 4 additions and 7 deletions
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@ -66,13 +66,10 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
				@@ -66,13 +66,10 @@ void Rover::send_heartbeat(mavlink_channel_t chan)
    // indicate we have set a custom mode
    base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;

-    mavlink_msg_heartbeat_send(
-        chan,
-        MAV_TYPE_GROUND_ROVER,
-        MAV_AUTOPILOT_ARDUPILOTMEGA,
-        base_mode,
-        custom_mode,
-        system_status);
+    gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_GROUND_ROVER,
+                                            base_mode,
+                                            custom_mode,
+                                            system_status);
 }

 void Rover::send_attitude(mavlink_channel_t chan)