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Cyphal: use actual time instead of transfer id in uptime field of heartbeat

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This commit is contained in:
Dmitry Ponomarev
2023-04-14 17:47:10 +03:00
committed by Daniel Agar
parent b063202b45
commit 52476633a8
1 changed files with 2 additions and 2 deletions
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src/drivers/cyphal/Cyphal.cpp
+2 -2
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@@ -361,10 +361,10 @@ void CyphalNode::sendHeartbeat()
if (hrt_elapsed_time(&_uavcan_node_heartbeat_last) >= 1_s) {
uavcan_node_Heartbeat_1_0 heartbeat{};
heartbeat.uptime = _uavcan_node_heartbeat_transfer_id; // TODO: use real uptime
const hrt_abstime now = hrt_absolute_time();
heartbeat.uptime = now / 1000000;
heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL;
const hrt_abstime now = hrt_absolute_time();
size_t payload_size = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_;
const CanardTransferMetadata transfer_metadata = {