From 76fdfdfcf26cef12546936cc83bdd0f72c4060fc Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 12 Jun 2015 18:27:58 +0900
Subject: [PATCH] GCS_MAVLink: do not send_vibration on APM2

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 3e2c37e8cd..a9a93abd62 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1322,15 +1322,17 @@ void GCS_MAVLINK::send_local_position(const AP_AHRS &ahrs) const
  */
 void GCS_MAVLINK::send_vibration(const AP_InertialSensor &ins) const
 {
+#if INS_VIBRATION_CHECK
     Vector3f vibration = ins.get_vibration_levels();
 
     mavlink_msg_vibration_send(
         chan,
-        hal.scheduler->millis(),
+        hal.scheduler->micros64(),
         vibration.x,
         vibration.y,
         vibration.z,
         ins.get_accel_clip_count(0),
         ins.get_accel_clip_count(1),
         ins.get_accel_clip_count(2));
+#endif
 }