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.
However, MAVProxy does not use probably_vehicle_heartbeat (at least not for this purpose), having its own version called heartbeat_is_from_autopilot in 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
peterbarker
commented
4 weeks ago
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 https://github.com/arduPilot/pymavlink/commit/67669c3b84a1f0d7792c5faa487230b94a628135.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