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mavlink: only publish telemetry status from GCS

This commit is contained in:
Julian Oes 2014-06-19 14:14:24 +02:00
parent 5bab3b1bac
commit e0c78e51e3
1 changed files with 12 additions and 12 deletions
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2
src/modules/mavlink/mavlink_receiver.cpp
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@ -470,7 +470,6 @@ 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) {
@ -489,6 +488,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
}
}
}
void