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mavlink: use high_latency_data_link_lost as backup to normal data_link

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Igor Mišić
2023-02-15 10:58:06 +01:00
committed by Beat Küng
parent 4f8de500af
commit 61ca65d863
2 changed files with 2 additions and 2 deletions
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2
msg/IridiumsbdStatus.msg
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@@ -1,5 +1,5 @@
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)
uint64 last_successful_at_cmd # timestamp of the last successful AT command uint64 last_at_ok_timestamp # timestamp of the last "OK" received after the "AT" command
uint16 tx_buf_write_index # current size of the tx buffer uint16 tx_buf_write_index # current size of the tx buffer
uint16 rx_buf_read_index # the rx buffer is parsed up to that index uint16 rx_buf_read_index # the rx buffer is parsed up to that index
uint16 rx_buf_end_index # current size of the rx buffer uint16 rx_buf_end_index # current size of the rx buffer

2
src/modules/commander/Commander.cpp
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@@ -2676,7 +2676,7 @@ void Commander::dataLinkCheck()
iridiumsbd_status_s iridium_status; iridiumsbd_status_s iridium_status;
if (_iridiumsbd_status_sub.update(&iridium_status)) { if (_iridiumsbd_status_sub.update(&iridium_status)) {
_high_latency_datalink_timestamp = iridium_status.last_successful_at_cmd; _high_latency_datalink_timestamp = iridium_status.last_at_ok_timestamp;
if (_vehicle_status.high_latency_data_link_lost && if (_vehicle_status.high_latency_data_link_lost &&
(_high_latency_datalink_timestamp > _high_latency_datalink_lost) && (_high_latency_datalink_timestamp > _high_latency_datalink_lost) &&