Ignore heartbeats from non-default components

1f9ea81b · Don Gagne · 3ae6d915 · 1f9ea81b
Commit 1f9ea81b authored Feb 15, 2017 by Don Gagne
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Vehicle.cc src/Vehicle/Vehicle.cc +4 -0

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--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -828,6 +828,10 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)

 void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
    _connectionActive();

    mavlink_heartbeat_t heartbeat;