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Send only mavlink heartbeats until connected

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This commit is contained in:
Oleg Kalachev
2025-10-03 07:08:17 +03:00
parent d7f8c8d934
commit 82d9d3570d
1 changed files with 5 additions and 1 deletions
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6
flix/mavlink.ino
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@@ -12,6 +12,7 @@
#define PERIOD_FAST 0.1
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
bool mavlinkConnected = false;
String mavlinkPrintBuffer;
extern double controlTime;
@@ -41,12 +42,14 @@ void sendMavlink() {
mode, MAV_STATE_STANDBY);
sendMessage(&msg);
if (!mavlinkConnected) return; // send only heartbeat until connected
mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR);
sendMessage(&msg);
}
if (t - lastFast >= PERIOD_FAST) {
if (t - lastFast >= PERIOD_FAST && mavlinkConnected) {
lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0};
@@ -80,6 +83,7 @@ void sendMessage(const void *msg) {
void receiveMavlink() {
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN);
if (len) mavlinkConnected = true;
// New packet, parse it
mavlink_message_t msg;