From 32815dc1d3898182bcf4b0cd1b472507ce7a30cc Mon Sep 17 00:00:00 2001
From: acfloria <florian.achermann@mavt.ethz.ch>
Date: Thu, 1 Mar 2018 17:30:24 +0100
Subject: [PATCH] Only generate the HIGH_LATENCY2 message if transmitting is
 allowed

---
 src/modules/mavlink/mavlink_messages.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 2c61868b3d..b78443dea8 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -4305,7 +4305,13 @@ protected:
 			_throttle.reset();
 			_windspeed.reset();
 
-			mavlink_msg_high_latency2_send_struct(_mavlink->get_channel(), &msg);
+			// only send the struct if transmitting is allowed
+			// this assures that the stream timer is only reset when actually a message is transmitted
+			updated = _mavlink->should_transmit();
+
+			if (updated) {
+				mavlink_msg_high_latency2_send_struct(_mavlink->get_channel(), &msg);
+			}
 		}
 
 		return updated;