From 7598065f0bd4d702ca01de52c37279ad91ee0c9c Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 8 Jan 2019 10:45:32 +0100 Subject: [PATCH] MAVLinkHILSystem: remove cont. init on heartbeat We shouldn't initialize every time we receive a heartbeat but only the first time. This worked for SITL because we only send heartbeats until initialized, however, for HITL we keep sending them. --- src/me/drton/jmavsim/MAVLinkHILSystem.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/me/drton/jmavsim/MAVLinkHILSystem.java b/src/me/drton/jmavsim/MAVLinkHILSystem.java index adb29b23..c0cd3057 100644 --- a/src/me/drton/jmavsim/MAVLinkHILSystem.java +++ b/src/me/drton/jmavsim/MAVLinkHILSystem.java @@ -126,16 +126,16 @@ public void handleMessage(MAVLinkMessage msg) { if (sysId < 0) { sysId = msg.systemID; } + + System.out.println("Init MAVLink"); + initMavLink(); + } else if (sysId > -1 && sysId != msg.systemID) { System.out.println("WARNING: Got heartbeat from system #" + Integer.toString(msg.systemID) + " but configured to only accept messages from system #" + Integer.toString(sysId) + ". Please change the system ID parameter to match in order to use HITL/SITL."); } } - if (gotHeartBeat) { - System.out.println("Init MAVLink"); - initMavLink(); - } if ((msg.getInt("base_mode") & 128) == 0) { vehicle.setControl(Collections.emptyList()); }