fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add MAVLink parachute system heartbeat detection

Browse Source
This commit is contained in:
Matthias Grob
2021-11-19 17:15:04 +01:00
parent fb54324f56
commit 43c529f294
5 changed files with 29 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+5
View File
@@ -2150,6 +2150,10 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
_camera_status_pub.publish(camera_status);
break;
case MAV_TYPE_PARACHUTE:
_heartbeat_type_parachute = now;
break;
default:
PX4_DEBUG("unhandled HEARTBEAT MAV_TYPE: %" PRIu8 " from SYSID: %" PRIu8 ", COMPID: %" PRIu8, hb.type, msg->sysid,
msg->compid);
@@ -2950,6 +2954,7 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
tstatus.heartbeat_type_gimbal = (t <= TIMEOUT + _heartbeat_type_gimbal);
tstatus.heartbeat_type_adsb = (t <= TIMEOUT + _heartbeat_type_adsb);
tstatus.heartbeat_type_camera = (t <= TIMEOUT + _heartbeat_type_camera);
tstatus.heartbeat_type_parachute = (t <= TIMEOUT + _heartbeat_type_parachute);
tstatus.heartbeat_component_telemetry_radio = (t <= TIMEOUT + _heartbeat_component_telemetry_radio);
tstatus.heartbeat_component_log = (t <= TIMEOUT + _heartbeat_component_log);