Emaxx Navigation Group / decawave_networking

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Diff: decawave_network.cpp

Revision:
1:93fcc351837a
Parent:
0:bd42ff91c25b
Child:
2:fb2268373246
Child:
4:01caa2302657
--- a/decawave_network.cpp	Wed Feb 15 17:23:19 2017 +0000
+++ b/decawave_network.cpp	Wed Feb 15 17:51:48 2017 +0000
@@ -224,11 +224,11 @@
 
         if(mavlink_parse_char(MAVLINK_COMM_0,byte,&msg,&status)) {
 
-           // printf("Parse Successfully msg id %d\r\n",msg.msgid);
+            //printf("Parse Successfully msg id %d\r\n",msg.msgid);
             if(msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
                 mavlink_heartbeat_t hb_msg;
                 mavlink_msg_heartbeat_decode(&msg,&hb_msg);
-                //printf("System ID %d Comp ID %d \r\n",msg.sysid,msg.compid);
+                printf("System ID %d Comp ID %d \r\n",msg.sysid,msg.compid);
                 nodes_in_range[msg.sysid]= msg.compid;
                 last_heartbeat[msg.sysid]=LocalTimer.read();
                 //    dwm_LED = !dwm_LED;
@@ -277,4 +277,7 @@
             nodes_in_range[i] = 0;
         }
     }
+}
+float DecaWaveNetwork::getRange(int node){
+    return ranges[node];   
 }
\ No newline at end of file