filter gps simulation hil gps message with sysid

2026-05-21 18:37:35 +08:00 · 2014-04-23 16:26:44 +02:00
parent a2940182ef
commit d7d6a3d3b7
2 changed files with 285537 additions and 1 deletions
@@ -182,7 +182,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	}


-	if (_mavlink->get_hil_enabled() || _mavlink->get_use_hil_gps()) {
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
 		switch (msg->msgid) {
 		case MAVLINK_MSG_ID_HIL_GPS:
 			handle_message_hil_gps(msg);