From 89680c8bca66578fa5cb919197410a508205306d Mon Sep 17 00:00:00 2001
From: acfloria <florian.achermann@mavt.ethz.ch>
Date: Mon, 28 May 2018 09:28:59 +0200
Subject: [PATCH] Do not send virtual joystick commmands over high latency
 links

---
 src/Vehicle/Vehicle.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 01a66ea2c..f81769ee4 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2465,7 +2465,7 @@ void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
 void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
 {
     // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
-    if ( !_joystickEnabled ) {
+    if ( !_joystickEnabled && !_highLatencyLink) {
         _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
     }
 }
-- 
2.22.0