From e0c78e51e3a5768014c73bed5cd087830d602227 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 19 Jun 2014 14:14:24 +0200 Subject: [PATCH] mavlink: only publish telemetry status from GCS --- src/modules/mavlink/mavlink_receiver.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7a6922bfa8..baa6571a88 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -470,23 +470,23 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) /* ignore own heartbeats, accept only heartbeats from GCS */ if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { _telemetry_heartbeat_time = hrt_absolute_time(); - } - /* if no radio status messages arrive, lets at least publish that heartbeats were received */ - if (!_radio_status_available) { + /* if no radio status messages arrive, lets at least publish that heartbeats were received */ + if (!_radio_status_available) { - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); - tstatus.timestamp = _telemetry_heartbeat_time; - tstatus.heartbeat_time = _telemetry_heartbeat_time; - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; + tstatus.timestamp = _telemetry_heartbeat_time; + tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; - if (_telemetry_status_pub < 0) { - _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); - } else { - orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } else { + orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } } } }