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1  import { MavlinkMessage, MavlinkSystemId } from './mavlink';
2  import { EventEmitter } from 'events';
3
4  /**
5   * Handles the core MAVLink connection logic, including heartbeat
6   * management and component targeting.
7   */
8  export class MavlinkConnection extends EventEmitter {
9    private systemId: MavlinkSystemId = 1;
10   private targetSystemId: MavlinkSystemId | null = null;
11   private targetComponentId: MavlinkComponentId | null = null;
12
13   constructor() {
14     super();
15     console.log('MAVLink connection initialized.');
16   }
17
18   public onHeartbeat(message: MavlinkMessage): void {
19     // Update system status and target if needed
20     if (this.targetSystemId === null) {
21       this.targetSystemId = message.systemId;
22     }
23     console.log(`Heartbeat received from system: ${message.systemId}`);
24     this.emit('heartbeat', message);
25   }
26 }