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Remove obstacle avoidance MAVLink Heartbeat check

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Matthias Grob 2025-01-13 19:26:16 +01:00 committed by Silvan Fuhrer
parent 04cd247c90
commit 0b370ab5d3
3 changed files with 0 additions and 9 deletions
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2
msg/TelemetryStatus.msg
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@ -51,13 +51,11 @@ bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
bool heartbeat_component_log # MAV_COMP_ID_LOG
bool heartbeat_component_osd # MAV_COMP_ID_OSD
bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
bool heartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
# Misc component health
bool avoidance_system_healthy
bool open_drone_id_system_healthy
bool parachute_system_healthy

6
src/modules/mavlink/mavlink_receiver.cpp
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@ -2193,11 +2193,6 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
_heartbeat_component_osd = now;
break;
case MAV_COMP_ID_OBSTACLE_AVOIDANCE:
_heartbeat_component_obstacle_avoidance = now;
_mavlink.telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE);
break;
case MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY:
_heartbeat_component_visual_inertial_odometry = now;
break;
@ -2909,7 +2904,6 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
tstatus.heartbeat_component_telemetry_radio = (t <= TIMEOUT + _heartbeat_component_telemetry_radio);
tstatus.heartbeat_component_log = (t <= TIMEOUT + _heartbeat_component_log);
tstatus.heartbeat_component_osd = (t <= TIMEOUT + _heartbeat_component_osd);
tstatus.heartbeat_component_obstacle_avoidance = (t <= TIMEOUT + _heartbeat_component_obstacle_avoidance);
tstatus.heartbeat_component_vio = (t <= TIMEOUT + _heartbeat_component_visual_inertial_odometry);
tstatus.heartbeat_component_pairing_manager = (t <= TIMEOUT + _heartbeat_component_pairing_manager);
tstatus.heartbeat_component_udp_bridge = (t <= TIMEOUT + _heartbeat_component_udp_bridge);

1
src/modules/mavlink/mavlink_receiver.h
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@ -394,7 +394,6 @@ private:
hrt_abstime _heartbeat_component_telemetry_radio{0};
hrt_abstime _heartbeat_component_log{0};
hrt_abstime _heartbeat_component_osd{0};
hrt_abstime _heartbeat_component_obstacle_avoidance{0};
hrt_abstime _heartbeat_component_visual_inertial_odometry{0};
hrt_abstime _heartbeat_component_pairing_manager{0};
hrt_abstime _heartbeat_component_udp_bridge{0};