From d1f35cc1107f3f07965073862150a5e4c7ea612c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 24 Dec 2013 15:04:11 +0100 Subject: [PATCH] HIL: only listen to first 8 actuator outputs --- src/modules/mavlink/orb_listener.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index c37c35a63f..9e43467cc3 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -499,8 +499,8 @@ l_actuator_outputs(const struct listener *l) act_outputs.output[6], act_outputs.output[7]); - /* only send in HIL mode */ - if (mavlink_hil_enabled && armed.armed) { + /* only send in HIL mode and only send first group for HIL */ + if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0;