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mavlink: use high_latency_data_link_lost as backup to normal data_link

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This commit is contained in:
Igor Mišić
2024-04-25 08:23:32 +02:00
committed by Beat Küng
parent de23c10b68
commit 208909d471
1 changed files with 4 additions and 3 deletions
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src/modules/mavlink/mavlink_main.cpp
+4 -3
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@@ -2451,15 +2451,16 @@ void Mavlink::handleStatus()
if (_mode == MAVLINK_MODE_IRIDIUM) {
if (_transmitting_enabled && vehicle_status.high_latency_data_link_lost &&
!_transmitting_enabled_commanded && _first_heartbeat_sent) {
if (_transmitting_enabled && (!vehicle_status.gcs_connection_lost || (vehicle_status.high_latency_data_link_lost &&
!_transmitting_enabled_commanded && _first_heartbeat_sent))) {
_transmitting_enabled = false;
mavlink_log_info(&_mavlink_log_pub, "Disable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_disable"), events::Log::Info,
"Disabling transmitting with IRIDIUM mavlink on instance {1}", _instance_id);
} else if (!_transmitting_enabled && !vehicle_status.high_latency_data_link_lost) {
} else if (!_transmitting_enabled && vehicle_status.gcs_connection_lost
&& !vehicle_status.high_latency_data_link_lost) {
_transmitting_enabled = true;
mavlink_log_info(&_mavlink_log_pub, "Enable transmitting with IRIDIUM mavlink on device %s\t", _device_name);
events::send<int8_t>(events::ID("mavlink_iridium_enable"), events::Log::Info,