From e061b1a3a561ba3694db69f548b0e606a94badbc Mon Sep 17 00:00:00 2001
From: acfloria <florian.achermann@mavt.ethz.ch>
Date: Tue, 27 Feb 2018 12:21:56 +0100
Subject: [PATCH] Do not enable hil for high latency mavlink

---
 src/modules/mavlink/mavlink_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index c570ec12de..f5a80efeed 100644
--- 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)
 	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);
 	}