Heartbeat Not Showing In watch command output

@jmillwood wrote:

I'm not entirely sure where to post this as it touches on a few subjects.
I am writing an application to communicate with an ArduPilot instance and I have been testing it with the SIL setup and MAVProxy.
My external application is written in C# and is communicating to MAVProxy via UDP.
The ArduPilot simulation is being run like:

sim_vehicle.py -v ArduPlane --out=udp:127.0.0.1:14580

I put together a very simple program to just emit a heartbeat packet over udp just to make sure I can get something sent to MAVProxy:

using System;
using MavLink;
using System.Threading;
using System.Net;
using System.Net.Sockets;

namespace HBTest
{
	class MainClass
	{
		public static void Main (string[] args)
		{
			Console.WriteLine ("Testing Heartbeat Sending ___________________ ");
			Msg_heartbeat hbMsg = new Msg_heartbeat ();
			Mavlink mav = new Mavlink ();
			// Udp Com ________________________________________________________
			IPEndPoint epOut = new IPEndPoint(IPAddress.Parse ("127.0.0.1"), 14580);
			IPEndPoint epThis = new IPEndPoint (IPAddress.Parse ("127.0.0.1"), 14660);
			UdpClient udpCom = new UdpClient (epThis);
                        // Heartbeat message
			hbMsg.autopilot = (byte)MavLink.MAV_AUTOPILOT.MAV_AUTOPILOT_GENERIC; 
			hbMsg.base_mode = (byte)MavLink.MAV_MODE.MAV_MODE_PREFLIGHT;
			hbMsg.custom_mode = 0;
			hbMsg.mavlink_version = 3;
			hbMsg.system_status = (byte)MavLink.MAV_STATE.MAV_STATE_STANDBY;
			hbMsg.type = (byte)MavLink.MAV_TYPE.MAV_TYPE_GCS; 
                        // Heartbeat packet
			MavlinkPacket hbPkt = new MavlinkPacket ();
			hbPkt.SystemId = 250;
			hbPkt.ComponentId = 0;
			hbPkt.SequenceNumber = 0;
			hbPkt.TimeStamp = System.DateTime.Now;
			int hbSent = 0;
			hbPkt.Message = hbMsg;

			byte[] pktbytes;
			while(true)
			{
				hbPkt.SequenceNumber = (byte)hbSent;
				pktbytes = mav.Send (hbPkt);
				Console.WriteLine ("[{0}] AP:{1} BM:{2} T:{3} S:{4}", hbPkt.SequenceNumber, hbMsg.autopilot, 
					hbMsg.base_mode, hbMsg.type, hbMsg.system_status);
				udpCom.Send (pktbytes, pktbytes.Length, epOut);
				Thread.Sleep (500);
				hbSent++;
			}
		}
	}
}

When I run watch HEARTBEAT from the MAVProxy shell, I only see the simulated vehicle and MAVProxy's heartbeat:

I looked at what MAVProxy uses for the fields in its heartbeat and it matches the Heartbeat with type 6 (MAV_TYPE_GCS). So mine is not showing up.

I thought maybe I'm missing something with how I am communicating with UDP but when I look at wireshark for the UPD Port that I had set for output but I can see that there is the heartbeat packet being sent from my application's source UDP address (127.0.0.1:14660) to the output UDP (127.0.0.1:14580) that I had defined:

You can see the packet being sent from 14460 to 14580. So that leads me to believe that the packet is getting there.
I looked at the packets that are in that datagram and can confirm that they are the correct bytes:

1. 0xFE Start of Mavlink Packet
2. 0x09 Payload Length
3. 0x81 Payload Sequence
4. 0xFA System ID
5. 0x00 Component ID
6. 0x00 Message ID (0 = HEARTBEAT)
7. 0x00 HeartBeat Custom Mode byte 0
8. 0x00 HeartBeat Custom Mode byte 1
9. 0x00 HeartBeat Custom Mode byte 2
10. 0x00 HeartBeat Custom Mode byte 3
11. 0x06 HeartBeat Type
12. 0x00 HeartBeat Autopilot
13. 0x00 Heartbeat Base Mode
14. 0x03 Heartbeat System Status
15. 0x03 Heartbeat Mavlink Version
16. 0xC8 CRC
17. 0x81 CRC

Everything seems to be packed correctly.

When I use APM Planner I can see the heartbeats it emits with the "watch HEARTBEAT" command in MAVProxy. So it seems that I am not initializing communication with MAVProxy properly?
I can receive messages in my application from the output of MAVProxy just fine, but sending messages the other way is giving me problems. I did not see any documentation for initializing a connection or something similar. I thought it was just that you make sure you send enough heartbeats.

Thanks for any suggestions

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