Merge pull request #4554 from DonLakeFlyer/HeartbeatComponent

Ignore heartbeats from non-default component

src/FactSystem/FactSystemTest.qml

@@ -32,7 +32,7 @@ FactPanel {
     TextInput {
         text:       fact2.value
 
-        property Fact fact2: controller.getParameterFact(1, "RC_MAP_THROTTLE")
+        property Fact fact2: controller.getParameterFact(200, "RC_MAP_THROTTLE")
 
         onAccepted: fact2.value = text
     }

src/FactSystem/FactSystemTestBase.cc

@@ -58,8 +58,8 @@ void FactSystemTestBase::_parameter_default_component_id_test(void)
 
 void FactSystemTestBase::_parameter_specific_component_id_test(void)
 {
-    QVERIFY(_vehicle->parameterManager()->parameterExists(1, "RC_MAP_THROTTLE"));
-    Fact* fact = _vehicle->parameterManager()->getParameter(1, "RC_MAP_THROTTLE");
+    QVERIFY(_vehicle->parameterManager()->parameterExists(200, "RC_MAP_THROTTLE"));
+    Fact* fact = _vehicle->parameterManager()->getParameter(200, "RC_MAP_THROTTLE");
     QVERIFY(fact != NULL);
     QVariant factValue = fact->rawValue();
     QCOMPARE(factValue.isValid(), true);

src/Vehicle/Vehicle.cc

@@ -828,6 +828,10 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
 
 void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     _connectionActive();
 
     mavlink_heartbeat_t heartbeat;

src/comm/MockLink.cc

@@ -215,7 +215,6 @@ void MockLink::_loadParams(void)
         QStringList paramData = line.split("\t");
         Q_ASSERT(paramData.count() == 5);
 
-        int componentId = paramData.at(1).toInt();
         QString paramName = paramData.at(2);
         QString valStr = paramData.at(3);
         uint paramType = paramData.at(4).toUInt();
@@ -251,7 +250,7 @@ void MockLink::_loadParams(void)
 
         qCDebug(MockLinkVerboseLog) << "Loading param" << paramName << paramValue;
 
-        _mapParamName2Value[componentId][paramName] = paramValue;
+        _mapParamName2Value[_vehicleComponentId][paramName] = paramValue;
         _mapParamName2MavParamType[paramName] = static_cast<MAV_PARAM_TYPE>(paramType);
     }
 }