From 5a8062e646142558d9581ee18655c771df609637 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 9 Jul 2017 13:51:46 +0200 Subject: [PATCH] MAVLink app: Provide function for connected state If we have not received an inbound heartbeat we are probably not connected and so user-facing output (which is even buffered) should go only out once we are connected. --- src/modules/mavlink/mavlink_main.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 26e354f145..62c05f83ee 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -214,6 +214,8 @@ public: void set_config_link_on(bool on) { _config_link_on = on; } + bool is_connected() { return ((_rstatus.heartbeat_time > 0) && (hrt_absolute_time() - _rstatus.heartbeat_time < 3000000)); } + bool broadcast_enabled() { return _broadcast_mode > BROADCAST_MODE_OFF; } /**