Scripts: add heartbeat to example19 multiforward ArduPilot#3394

magicrub · Aug 21, 2024 · 276dd5d · 276dd5d
1 parent d2d2c0c
commit 276dd5d
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/Plugins/example19-multiforward.cs b/Plugins/example19-multiforward.cs
@@ -58,6 +58,23 @@ public override bool Loop()
                         return;
                     mAVLinkInterfaces.Add(comport);
 
+                    comport.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, (m) =>
+                    {
+                        try
+                        {
+                            MainV2.Comports.ForEach<MAVLinkInterface>(comport1 =>
+                            {
+                                if (comport != comport1)
+                                    comport1.Write(m.buffer);
+                            });
+                            return true;
+                        }
+                        catch (Exception e)
+                        {
+                            return true;
+                        }
+                    }, 0, 0);
+
                     comport.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT, (m) =>
                     {
                         try