From 9364393e9d0e365998177acb459c0c9ad6c6c8e9 Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Thu, 14 Nov 2019 11:25:10 +0100 Subject: [PATCH] mavlink_receiver: Reject own autopilot messages for battery status. Signed-off-by: Claudio Micheli --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 290c8a6f32..cee67c68f1 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1597,8 +1597,8 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg) void MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg) { - if (msg->sysid != mavlink_system.sysid) { - // ignore battery status of other system + if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) { + // ignore battery status coming from other systems or from the autopilot itself return; }