can't connect my device that works on Ubuntu 20.04 to QGC version 4.2.9 via mavlink

[hilaelb]

I have a simple code that I wrote on ubuntu 20.04. my goal is to connect to QGC and to see "Ready to fly" in the main screen. my ip in the computer that qgc works on is 192.168.168.95 and my device ip is 192.168.168.5, when I run my device I can see in wireshark that there is communication between my device and qgc but still on the main screen it says "Disconnected" this is my code on the device:

import rclpy from rclpy.node import Node from pymavlink import mavutil

class QGCcommNode(Node): def init(self): super().init("qgc_comm")

Connect to the MAVLink instance

    self.master = mavutil.mavlink_connection('udpout:192.168.168.95:14570', source_system =1,source_component=1 )
    self.the_connection = mavutil.mavlink_connection('udpin:192.168.168.5:14575')
    self.timer = self.create_timer(1, self.send_heartbeat)

# Function to send a heartbeat message
def send_heartbeat(self):
    try:
        self.master.mav.heartbeat_send(
            type=mavutil.mavlink.MAV_TYPE_GENERIC,
            autopilot=mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
            base_mode=0,
            custom_mode=0,
            system_status=mavutil.mavlink.MAV_STATE_ACTIVE
        )

        # Wait for a heartbeat
        msg = self.the_connection.recv_match(type='HEARTBEAT', blocking=True, timeout=1)
        if msg:
            self.get_logger().info("Heartbeat received from system")
        else:
            self.get_logger().warning("No heartbeat received")
    except Exception as e:
        self.get_logger().error(f"Error in send_heartbeat1: {str(e)}")

def main(args=None):

rclpy.init(args=args)
node = QGCcommNode() 
rclpy.spin(node)
rclpy.shutdown()   

when I run this code I get the "Heartbeat received from system" but yet the qgc is not connecting. in addition when I enter the Analyze Tools --> Mavlink Inspector this is the message that the qgc sends:

I would love if someone wil help me :)

[hilaelb]