forked from Archive/PX4-Autopilot
MAVLink: Only broadcast heartbeat on local network if not in onboard mode
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@ -896,9 +896,10 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
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struct telemetry_status_s &tstatus = get_rx_status();
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/* resend heartbeat via broadcast */
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if (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
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if ((_mode != MAVLINK_MODE_ONBOARD)
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&& (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
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(tstatus.heartbeat_time == 0)) &&
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msgid == MAVLINK_MSG_ID_HEARTBEAT) {
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msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
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int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
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