link: fix non-vehicle heartbeat filter #1445
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peterbarker
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Sep 5, 2024
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LGTM.
Various places we take strings like this and manipulate them into the relevant integer enumeration value. I guess I might have copied this from one of those...
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Merged, thanks! |
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If there are multiple components sending heartbeats, MAVProxy can get confused, lock onto the wrong one, and fail to receive any messages from the real autopilot.
There is a function in pymavlink,
probably_vehicle_heartbeat, which can check for this since this commit ArduPilot/pymavlink@67669c3.However, MAVProxy does not use
probably_vehicle_heartbeat(at least not for this purpose), having its own version calledheartbeat_is_from_autopilotin the link modoule.The corresponding check is present in that function! However (x2), it incorrectly compares an integer against a string, which never matches.
This PR changes the strings to integer constants.
Disclaimer: I am employed by Exyn Technologies, an Ardupilot partner