Heartbeat server

If you implement a server device or simulator, you can use IHeartbeatServer to send heartbeats.

First of all, you have to register the heartbeat service when building server device:

var serverDevice = ServerDevice.Create(
    new MavlinkIdentity(config.SystemId, config.ComponentId), 
    core, 
    builder =>
{
    // register some other services here...
    
    builder.RegisterHeartbeat();
});

After building a service, you can get it and, for example, register callbacks to modify the heartbeat payload being sent from the server:

var heartbeatServer = serverDevice.GetHeartbeat();

heartbeatServer.Set(hb =>
{
    hb.Type = MavType.MavTypeQuadrotor;
    hb.Autopilot = MavAutopilot.MavAutopilotPx4;
});

heartbeatServer.SetCustomMode(bits =>
{
    // set some bits...
});

IHeartbeatServer (source)

Defines the interface for a heartbeat server.

Method	Return Type	Description
`Set(Action<HeartbeatPayload> changeCallback)`	`void`	Sets the change callback for the heartbeat payload.
`SetCustomMode(Action<UintBitArray> changeCallback)`	`void`	Sets the change callback for the `CustomMode` bitfield.

`IHeartbeatServer.Set`

Parameter	Type	Description
`changeCallback`	`Action<HeartbeatPayload>`	Callback that is invoked whenever the heartbeat payload is sent, allowing you to modify its fields before transmission.

`IHeartbeatServer.SetCustomMode`

Parameter	Type	Description
`changeCallback`	`Action<UintBitArray>`	Callback that is invoked to modify the CustomMode bitfield of the heartbeat payload before it is sent.

Last modified: 09 October 2025