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Tracker: process mavlink msgs from vehicle once 

previously heartbeat messages from the vehicle could be processed twice.
Once at the top of hte handleMessage function where they were forwarded
onto the GCS and then again lower down in the function where all
received heartbeats were sent to the vehicle.
This commit is contained in:
Randy Mackay 2014-09-29 21:03:26 +09:00
parent 7a06ed8a8a
commit 3e62b188a1
1 changed files with 3 additions and 7 deletions
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10
AntennaTracker/GCS_Mavlink.pde
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@ -434,10 +434,7 @@ GCS_MAVLINK::data_stream_send(void)
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{ {
if (g.proxy_mode == true) if (g.proxy_mode == true && chan == proxy_vehicle.chan) {
{
if (chan == proxy_vehicle.chan)
{
// From the remote vehicle. // From the remote vehicle.
// All messages from the remote are proxied to GCS // All messages from the remote are proxied to GCS
// We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs // We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs
@ -472,9 +469,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
} }
} }
} // no further processing of messages from vehicle
// Else its from the GCS, and it might be for the remote and.or it might be for the tracker return;
// So we fall through to the below
} }