Mavlink: Change to allow V1 heartbeats without notify#13760
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DonLakeFlyer merged 1 commit intomasterfrom Dec 18, 2025
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Mavlink: Change to allow V1 heartbeats without notify#13760DonLakeFlyer merged 1 commit intomasterfrom
DonLakeFlyer merged 1 commit intomasterfrom
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DonLakeFlyer
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Dec 17, 2025
DonLakeFlyer
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- PX4 defaults to sending a V1 heartbeat adn then switches to V2 when QGC sends V2 traffic
- ArduPilot always continuously sends both V1 and V2 heartbeats
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Pull request overview
This PR modifies the MAVLink protocol handling to allow MAVLink V1 heartbeat messages on V2 links without triggering warnings or user notifications. This accommodates two common autopilot behaviors:
- PX4 initially sends V1 heartbeats and switches to V2 after receiving V2 messages from the ground control station
- ArduPilot continuously sends both V1 and V2 heartbeats simultaneously
Key Changes
- Modified the V1 traffic detection logic to exempt heartbeat messages from triggering the "MAVLink v1 traffic detected" warning
- Added explanatory comments documenting the firmware-specific behaviors that necessitate this change
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