Do not enable hil for high latency mavlink

7 years ago · e061b1a3a5
1 changed files with 1 additions and 1 deletions
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@ -859,7 +859,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
				@@ -859,7 +859,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 	int ret = OK;

 	/* enable HIL */
-	if (hil_enabled && !_hil_enabled) {
+	if (hil_enabled && !_hil_enabled && (_mode != MAVLINK_MODE_IRIDIUM)) {
 		_hil_enabled = true;
 		configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
 	}