private void HandleHeartbeat(RawTelemetryConfig config)
{
_inputPackets
.Where(_ => _.MessageId == HeartbeatPacket.PacketMessageId)
.Cast <HeartbeatPacket>()
.Subscribe(OnHeartBeat, _disposeCancel.Token);
Observable
.Timer(TimeSpan.FromMilliseconds(config.HeartbeatTimeoutMs), TimeSpan.FromMilliseconds(config.HeartbeatTimeoutMs))
.Subscribe(CheckConnection, _disposeCancel.Token);
}
public RawTelemetry(IMavlinkV2Connection connection, RawTelemetryConfig config)
{
_config = config;
_inputPackets = connection.Where(FilterVehicle);
HandleStatistic();
HandleHeartbeat(config);
HandleSystemStatus();
HandleGps();
HandleHighresImu();
HandleVfrHud();
HandleAttitude();
HandleBatteryStatus();
HandleAltitude();
HandleExtendedSysState();
HandleHome();
}
