From 20a569a4d5799951e3318ed46de3d4bed888e6d1 Mon Sep 17 00:00:00 2001
From: proficnc <philip@proficnc.com>
Date: Thu, 12 May 2016 12:39:57 +1000
Subject: [PATCH] AP_Mount: block forwarding of MAVlink by bitmask
---
libraries/AP_Mount/AP_Mount_SoloGimbal.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index a5e607b808..5855188dc0 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -8,6 +8,7 @@
#include "SoloGimbal.h"
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@@ -107,6 +108,9 @@ void AP_Mount_SoloGimbal::status_msg(mavlink_channel_t chan)
if (_gimbal.aligned()) {
mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_ef_target_rad.y)*100, degrees(_angle_ef_target_rad.x)*100, degrees(_angle_ef_target_rad.z)*100);
}
+
+ // block heartbeat from transmitting to the GCS
+ GCS_MAVLINK::disable_channel_routing(chan);
}
/*