From 9143db6e6a0a07a8dbd5f1ddff46f72cb873135a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 12 Jan 2017 22:29:31 +1100
Subject: [PATCH] mavutil: wait_heartbeat takes a timeout

---
 mavutil.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mavutil.py b/mavutil.py
index 762a861f1..018bb1e20 100644
--- a/mavutil.py
+++ b/mavutil.py
@@ -389,9 +389,9 @@ def setup_logfile_raw(self, logfile, mode='w'):
         '''start logging raw bytes to the given logfile, without timestamps'''
         self.logfile_raw = open(logfile, mode=mode)
 
-    def wait_heartbeat(self, blocking=True):
+    def wait_heartbeat(self, blocking=True, timeout=None):
         '''wait for a heartbeat so we know the target system IDs'''
-        return self.recv_match(type='HEARTBEAT', blocking=blocking)
+        return self.recv_match(type='HEARTBEAT', blocking=blocking, timeout=timeout)
 
     def param_fetch_all(self):
         '''initiate fetch of all parameters'''