From b7d3377f31c0af567de072a310141106e16d6457 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Thu, 29 Jun 2017 11:21:14 -0700
Subject: [PATCH] Create vehicles only for autopilot component

---
 src/Vehicle/MultiVehicleManager.cc | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index 5b1db7c17..69dd5f335 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/src/Vehicle/MultiVehicleManager.cc
@@ -74,6 +74,20 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
 {
+    if (componentId != MAV_COMP_ID_AUTOPILOT1) {
+        // Don't create vehicles for components other than the autopilot
+        if (!getVehicleById(vehicleId)) {
+            qCDebug(MultiVehicleManagerLog()) << "Ignoring heartbeat from unknown component "
+                                              << link->getName()
+                                              << vehicleId
+                                              << componentId
+                                              << vehicleMavlinkVersion
+                                              << vehicleFirmwareType
+                                              << vehicleType;
+        }
+        return;
+    }
+
     if (_vehicles.count() > 0 && !qgcApp()->toolbox()->corePlugin()->options()->multiVehicleEnabled()) {
         return;
     }
-- 
2.22.0