Emaxx Navigation Group / decawave_networking

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Diff: decawave_network.cpp

Revision:
8:a69bdc60d93e
Parent:
7:bdfcc94be056
Child:
10:b5672b451e2e
diff -r bdfcc94be056 -r a69bdc60d93e decawave_network.cpp
--- a/decawave_network.cpp	Thu Jun 01 17:58:50 2017 +0000
+++ b/decawave_network.cpp	Thu Jun 01 18:33:39 2017 +0000
@@ -8,7 +8,6 @@
     rxTimestamp = 0;
     timediffRec = 0;
     timediffSend = 0;
-    curr_mode = 1;
     for (int i = 0; i < MAX_NODES; i++)
         acknowledgement[i] = true;
 
@@ -229,9 +228,13 @@
             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 Base Mode %d\r\n",msg.sysid,msg.compid,hb_msg.base_mode);
                 nodes_in_range[msg.sysid]= msg.compid;
-                last_heartbeat[msg.sysid]=LocalTimer.read();                
+                last_heartbeat[msg.sysid]=LocalTimer.read();
+                
+                if(msg.compid == MASTER){
+                    curr_mode = hb_msg.base_mode;
+                }                
                 //    dwm_LED = !dwm_LED;
             }
             /* if(msg.msgid==MAVLINK_MSG_ID_FUSED_IMU) {