GCS_MAVLink: filter out additional messages for High Latency link

ArduPilot · Mar 8, 2024 · b9c1a1a · b9c1a1a
1 parent 9fc068d
commit b9c1a1a
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Showing 2 changed files with 9 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
@@ -99,6 +99,11 @@ void GCS::send_to_active_channels(uint32_t msgid, const char *pkt)
         if (!c.is_active()) {
             continue;
         }
+#if HAL_HIGH_LATENCY2_ENABLED
+        if (c.is_high_latency_link) {
+            continue;
+        }
+#endif
         // size checks done by this method:
         c.send_message(pkt, entry);
     }

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1851,7 +1851,11 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
 
     // send a timesync message every 10 seconds; this is for data
     // collection purposes
+#if HAL_HIGH_LATENCY2_ENABLED
+    if (tnow - _timesync_request.last_sent_ms > _timesync_request.interval_ms && !is_private() && !is_high_latency_link) {
+#else
     if (tnow - _timesync_request.last_sent_ms > _timesync_request.interval_ms && !is_private()) {
+#endif
         if (HAVE_PAYLOAD_SPACE(chan, TIMESYNC)) {
             send_timesync();
             _timesync_request.last_sent_ms = tnow;