mavlink: only publish telemetry status from GCS

src/modules/mavlink/mavlink_receiver.cpp

@@ -470,7 +470,6 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 	/* ignore own heartbeats, accept only heartbeats from GCS */
 	if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
 		_telemetry_heartbeat_time = hrt_absolute_time();
-	}
 
 		/* if no radio status messages arrive, lets at least publish that heartbeats were received */
 		if (!_radio_status_available) {
@@ -489,6 +488,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 				orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
 			}
 		}
+	}
 }
 
 void