Heartbeat client

To work with heartbeat packets from a client, you can request the IHeartbeatClient from the device instance. It is registered by default.

var heartbeat = device.GetMicroservice<IHeartbeatClient>() 
    ?? throw new Exception("No heartbeat client found");

After that you can, for example, subscribe to new heartbeat events:

var subscription = heartbeat.RawHeartbeat.Subscribe(payload =>
{
    if (payload == null) return;
    Console.WriteLine($"Heartbeat: type={payload.Type}, status={payload.SystemStatus}");
});

Or subscribe to connection quality changes:

var subscription = heartbeat.LinkQuality.Subscribe(quality => 
{
    Console.WriteLine($"Heartbeat quality: {quality}");
});

HeartbeatClientConfig

Property	Type	Default	Description
`HeartbeatTimeoutMs`	`int`	`2000`	Time without a heartbeat before the link indicator is downgraded.
`LinkQualityWarningSkipCount`	`int`	`3`	Number of link downgrade events tolerated before disconnection.
`RateMovingAverageFilter`	`int`	`3`	Moving-average filter size used to calculate `PacketRateHz`.
`PrintStatisticsToLogDelayMs`	`int`	`10000`	Interval for logging packet rate and link quality. A non-positive value disables it.
`PrintLinkStateToLog`	`bool`	`true`	Enables logging of link state changes.

IHeartbeatClient

Represents a client that receives heartbeats and monitors the connection to a target device.

Property	Type	Description
`FullId`	`ushort`	Combined system and component ID of the target device.
`RawHeartbeat`	`ReadOnlyReactiveProperty<HeartbeatPayload?>`	Most recently received heartbeat payload.
`PacketRateHz`	`ReadOnlyReactiveProperty<double>`	Receive rate of all MAVLink packets from the target device, in packets per second.
`LinkQuality`	`ReadOnlyReactiveProperty<double>`	Packet sequence quality for all MAVLink packets received from the target device.
`Link`	`ILinkIndicator`	State of the heartbeat connection.

WhenRepairConnection

WhenRepairConnection(TimeSpan lostTime, CancellationToken cancel = default) creates an observable intended to report a restored connection after it has been disconnected longer than lostTime.

Last modified: 16 July 2026