Merge pull request #7998 from mavlink/pr-fix-camera-battery

We can only filter by component ID

src/Camera/QGCCameraManager.cc

@@ -68,7 +68,8 @@ QGCCameraManager::_vehicleReady(bool ready)
 void
 QGCCameraManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
-    if(message.sysid == _vehicle->id()) {
+    //-- Only pay attention to camera components, as identified by their compId
+    if(message.sysid == _vehicle->id() && (message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6)) {
         switch (message.msgid) {
             case MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS:
                 _handleCaptureStatus(message);
@@ -110,10 +111,6 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
 {
     mavlink_heartbeat_t heartbeat;
     mavlink_msg_heartbeat_decode(&message, &heartbeat);
-    //-- Only pay attention to camera components, as identified by their MAV_TYPE, and as fallback by their compId
-    if(_vehicleReadyState && _vehicle->id() == message.sysid &&
-            ((heartbeat.autopilot == MAV_AUTOPILOT_INVALID && heartbeat.type == MAV_TYPE_CAMERA) ||
-             (message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6))) {
     //-- First time hearing from this one?
     QString sCompID = QString::number(message.compid);
     if(!_cameraInfoRequest.contains(sCompID)) {
@@ -149,7 +146,6 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message)
             qWarning() << "_cameraInfoRequest[" << sCompID << "] is null";
         }
     }
-    }
 }
 
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