Copter: Send a heartbeat on mode change

6 years ago · 242096b65e
1 changed files with 1 additions and 0 deletions
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@ -237,6 +237,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
				@@ -237,6 +237,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
    control_mode = mode;
    control_mode_reason = reason;
    logger.Write_Mode(control_mode, reason);
+    gcs().send_message(MSG_HEARTBEAT);

 #if ADSB_ENABLED == ENABLED
    adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));