From 74b0e485e7336de945b703cf0c91aa023bef84aa Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Thu, 18 May 2017 10:21:15 +0200
Subject: [PATCH] MAVLink stream: Ensure the message is not sent again if it
 was already dispatched.

---
 src/modules/mavlink/mavlink_stream.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
index ab964915de..55bf145964 100644
--- a/src/modules/mavlink/mavlink_stream.cpp
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -83,6 +83,12 @@ MavlinkStream::update(const hrt_abstime t)
 		return 0;
 	}
 
+	// One of the previous iterations sent the update
+	// already before the deadline
+	if (_last_sent > t) {
+		return -1;
+	}
+
 	int64_t dt = t - _last_sent;
 	int interval = _interval;