AP_GPS: Suppress unnecessary telemetry transmission

muramura · Sep 26, 2024 · fb3dcbe · fb3dcbe
1 parent beb4226
commit fb3dcbe
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -1369,6 +1369,10 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
 
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
+ if (params[0].type == GPS_TYPE_NONE || drivers[0] == nullptr) {
+ return;
+ }
+
  const Location &loc = location(0);
  float hacc = 0.0f;
  float vacc = 0.0f;
@@ -1405,7 +1409,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
  // always send the message if 2nd GPS is configured
- if (params[1].type == GPS_TYPE_NONE) {
+ if (params[1].type == GPS_TYPE_NONE || drivers[1] == nullptr) {
  return;
  }