mavutil: do not consider MAV_AUTOPILOT_INVALID to be a vehicle heartbeat

ArduPilot · Feb 1, 2023 · 67669c3 · 67669c3
1 parent 6b1e0c7
commit 67669c3
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/mavutil.py b/mavutil.py
@@ -356,6 +356,10 @@ def probably_vehicle_heartbeat(self, msg):
                         mavlink.MAV_TYPE_ADSB,
                         mavlink.MAV_TYPE_ONBOARD_CONTROLLER):
             return False
+        if msg.autopilot in frozenset([
+                mavlink.MAV_AUTOPILOT_INVALID
+                ]):
+            return False
         return True
 
     def post_message(self, msg):