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MAVLink: Only broadcast heartbeat on local network if not in onboard mode

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Lorenz Meier
2015-12-30 17:26:09 +01:00
parent 85b3de0b00
commit eff94677a4
1 changed files with 3 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+3 -2
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@@ -896,9 +896,10 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
struct telemetry_status_s &tstatus = get_rx_status(); struct telemetry_status_s &tstatus = get_rx_status();
/* resend heartbeat via broadcast */ /* resend heartbeat via broadcast */
if (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) || if ((_mode != MAVLINK_MODE_ONBOARD)
&& (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
(tstatus.heartbeat_time == 0)) && (tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT) { msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr)); int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));