diff options
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index c37c35a63..9e43467cc 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -499,8 +499,8 @@ l_actuator_outputs(const struct listener *l) act_outputs.output[6], act_outputs.output[7]); - /* only send in HIL mode */ - if (mavlink_hil_enabled && armed.armed) { + /* only send in HIL mode and only send first group for HIL */ + if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; |