Merged master

1 files changed, 17 insertions, 16 deletions

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 678ce1645..9c552515d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -819,11 +819,11 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		bool updated = status_sub->update(t);
-		updated |= pos_sp_triplet_sub->update(t);
-		updated |= act_sub->update(t);
+		bool updated = act_sub->update(t);
+		(void)pos_sp_triplet_sub->update(t);
+		(void)status_sub->update(t);
 
-		if (updated) {
+		if (updated && (status->arming_state == ARMING_STATE_ARMED)) {
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state;
 			uint8_t mavlink_base_mode;
@@ -1339,22 +1339,23 @@ protected:
 
 	void send(const hrt_abstime t)
 	{
-		(void)range_sub->update(t);
+		if (range_sub->update(t)) {
 
-		uint8_t type;
+			uint8_t type;
 
-		switch (range->type) {
-			case RANGE_FINDER_TYPE_LASER:
-			type = MAV_DISTANCE_SENSOR_LASER;
-			break;
-		}
+			switch (range->type) {
+				case RANGE_FINDER_TYPE_LASER:
+				type = MAV_DISTANCE_SENSOR_LASER;
+				break;
+			}
 
-		uint8_t id = 0;
-		uint8_t orientation = 0;
-		uint8_t covariance = 20;
+			uint8_t id = 0;
+			uint8_t orientation = 0;
+			uint8_t covariance = 20;
 
-		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, 
-			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+			mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
+				range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+		}
 	}
 };