Heartbeat
The heartbeat microservice is used to detect and monitor devices in a MAVLink network. It works by sending and receiving a special message — the HeartbeatPayload. This message contains basic information about a device (such as type, system status, modes, etc.) and is used to determine whether the device is alive.
The heartbeat microservice can be used in two roles:
A client implementing IHeartbeatClient
(for example, a ground control app) receives heartbeat messages and can decide whether the device is online or disconnected.A server implementing IHeartbeatServer
(for example, a drone) sends out heartbeat messages with its current state.
HeartbeatPayload (source)
Here is a quick reference for our HeartbeatPayload type, an implementation of MAVLink heartbeat message.
Property | Type | Description |
|---|---|---|
|
| Type of the component. |
|
| Autopilot type. |
|
| System mode bitmap. |
|
| A bitfield for use for autopilot-specific flags. |
|
| System status flag. |
|
| MAVLink version. |