Copter: move try_send_message of heartbeats up to GCS_MAVLINK

7 years ago · 75ad33ddcd
1 changed files with 0 additions and 5 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -307,11 +307,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
				@@ -307,11 +307,6 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
 #endif

    switch(id) {
-    case MSG_HEARTBEAT:
-        CHECK_PAYLOAD_SIZE(HEARTBEAT);
-        last_heartbeat_time = AP_HAL::millis();
-        send_heartbeat();
-        break;

    case MSG_EXTENDED_STATUS1:
        // send extended status only once vehicle has been initialised