It appears, from looking at the code (see below) that the packet_rx_drop_count field of the status is really a report of the number of receive errors. It does not use the sequence numbers. Does anyone know why this changed?
In the code below (from mavlink_helpers.h), not how the part the used to count missing packets based on sequence numbers is commented out.
if (status->msg_received == MAVLINK_FRAMING_OK)
{
//while(status->current_seq != rxmsg->seq)
//{
// status->packet_rx_drop_count++;
// status->current_seq++;
//}
status->current_rx_seq = rxmsg->seq;
// Initial condition: If no packet has been received so far, drop count is undefined
if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
// Count this packet as received
status->packet_rx_success_count++;
}
r_message->len = rxmsg->len; // Provide visibility on how far we are into current msg
r_mavlink_status->parse_state = status->parse_state;
r_mavlink_status->packet_idx = status->packet_idx;
r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
r_mavlink_status->packet_rx_drop_count = status->parse_error;
status->parse_error = 0;
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