From c51d716d96b0e1e117d5963dde4e2ed18872a9cc Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Thu, 1 Feb 2018 15:30:18 -0800
Subject: [PATCH] Don't send GCS heartbeat on high latency link

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

diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index 5fa0dceda..cbe4bdea6 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/src/Vehicle/MultiVehicleManager.cc
@@ -359,7 +359,7 @@ void MultiVehicleManager::_sendGCSHeartbeat(void)
     LinkManager* linkMgr = _toolbox->linkManager();
     for (int i=0; i<linkMgr->links().count(); i++) {
         LinkInterface* link = linkMgr->links()[i];
-        if (link->isConnected()) {
+        if (link->isConnected() && !link->highLatency()) {
             mavlink_message_t message;
             mavlink_msg_heartbeat_pack_chan(_mavlinkProtocol->getSystemId(),
                                             _mavlinkProtocol->getComponentId(),
-- 
2.22.0