From 1f9ea81b29dff1bd03c6fee01cb9914b4bc5bd15 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 15 Feb 2017 14:09:39 -0800
Subject: [PATCH] Ignore heartbeats from non-default components

---
 src/Vehicle/Vehicle.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 886330ca9..6c2fc34d4 100644
--- 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;
-- 
2.22.0