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mavlink_receiver: Ignore heartbeats coming from other vehicles.

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2019-03-12 11:24:33 +01:00
committed by Beat Küng
parent 14415b29c1
commit b85cceebe9
1 changed files with 3 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -2
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@@ -1882,8 +1882,9 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
mavlink_heartbeat_t hb; mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb); mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */ /* Accept only heartbeats from GCS or ONBOARD Controller, skip heartbeats from other vehicles */
if (msg->sysid != mavlink_system.sysid || hb.type == MAV_TYPE_ONBOARD_CONTROLLER) { if ((msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) || (msg->sysid == mavlink_system.sysid
&& hb.type == MAV_TYPE_ONBOARD_CONTROLLER)) {
telemetry_status_s &tstatus = _mavlink->get_telemetry_status(); telemetry_status_s &tstatus = _mavlink->get_telemetry_status();