Hi @maliduran, welcome to the forum 
Can you explain a bit more about how your system is set up, what else is connected to it?
Checking for a single heartbeat makes sense if the autopilot is the only other MAVLink component in the system, but that’s not the case for BlueOS, so you may need to explicitly check for the vehicle heartbeat.
Does this part mean that only the movement parts are failing to work as expected? It’s not clear what is and isn’t working in your testing.
By the way, I’ve edited your post to have the code in a code block, which formats it and makes it easier to read, or copy for testing. You can read more about that in the Formatting a Post/Comment section of the “How to Use the Forums” post