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AP_ADSB: do not detect, and thus avoid, yourself

This commit is contained in:
Tom Pittenger 2016-08-16 17:29:34 -07:00
parent 7445fac577
commit 78e7acf25c
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_ADSB/AP_ADSB.cpp
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@ -346,9 +346,11 @@ void AP_ADSB::handle_vehicle(const mavlink_message_t* packet)
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000); vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE; const uint16_t required_flags_position = ADSB_FLAGS_VALID_COORDS | ADSB_FLAGS_VALID_ALTITUDE;
const bool detected_ourself = (out_state.cfg.ICAO_id != 0) && (out_state.cfg.ICAO_id == vehicle.info.ICAO_address);
if (vehicle_loc.is_zero() || if (vehicle_loc.is_zero() ||
out_of_range || out_of_range ||
detected_ourself ||
!(vehicle.info.flags & required_flags_position) || !(vehicle.info.flags & required_flags_position) ||
now - vehicle.last_update_ms > VEHICLE_TIMEOUT_MS) { now - vehicle.last_update_ms > VEHICLE_TIMEOUT_MS) {