Commands
Heartbeat
Section titled “Heartbeat”Command ID: 1
Parameters: ConnectionStatus
The Heartbeat command is the default command sent by the GCS every x seconds. Its purpose is to diagnose the bidrectional status of connection. The Heartbeat command takes one parameter, ConnectionStatus, that specifies the quality of the GCS’ connection to the vehicle fromthe point of view of the of GCS. There are two possible forms of connection disruption between the GCE and the vehicle: the GCS cannot connect to the vehicle or the vehicle cannot connect to the GCS. The Heartbeat command is one half od the solution to diagnosing when a disconnect occurs. If a vehicle does not receive a Heartbeat command in x seconds, there is a disconnect between the GCS and the vehicle. However, at this at this state, only the vehicle is aware of the disconnect. The ConnectionStatus informs the vehicle whether or not the GCS has been receiving telemetry. ConnectionStatus is an enumerator that can take the following values:
| Value | Description |
|---|---|
ConnectionStatus.Connected | The GCS is receiving most or all of the telemetry sent by the vehicle |
ConnectionStatus.Unstable | The GCS is receiving approximately half of the telemtry sent by the vehicle |
ConnectionStatus.Disconnected | The GCS is receiving insufficient or no telemetry from the vehicle |
If the ConnectionStatus is Unstable or Disconnected, the vehicle is aware that there is a disconnect between the vehicle and the GCS.
The Heartbeat command diagnoses the following cases:
| Hearbeat Command | Telemetry | |
|---|---|---|
| GCS->vehicle Disconnect | X | |
| vehicle->GCS Disconnect | X |
See the Telemetry page for more detials