Heartbeat not received regularly & compare positions

@SalahuddinAsh wrote:

My code sends MAVLink messages to MAVProxy via UDP. Everything is working fine but I don't receive heartbeat signals from MAVProxy regularly. Sometimes I run the code and it doesn't receive any heartbeat message from MAVProxy. Sometimes I run the code and it receives two or three heartbeats in 2 minutes. My program sends heartbeat message every second. I tried calling the function that receive messages from MAVProxy every 1000 ms, 500 ms and 100 ms. I think I should receive heartbeat in regular basis, right?

The other point is, I send SET_POSITION_TARGET_LOCAL_NED to make the copter fly 10 meters North for example. How can I check if the copter reached its destination. I tried comparing NED and INT positions before sending the command and afterwards but this doesn't look like the right way to do that. Is there some other way?

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