From f38008a136ec073d7d0567d85225d2f0ca35542e Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Mon, 6 Feb 2017 18:06:24 -0600
Subject: [PATCH] Don't start Vehicles for things which aren't Vehicles

---
 src/Vehicle/MultiVehicleManager.cc | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index eae33e1..6d36394 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/src/Vehicle/MultiVehicleManager.cc
@@ -70,11 +70,22 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
 {
-    if (_ignoreVehicleIds.contains(vehicleId) || getVehicleById(vehicleId)
-            || vehicleId == 0) {
+    if (_ignoreVehicleIds.contains(vehicleId) || getVehicleById(vehicleId) || vehicleId == 0) {
         return;
     }
 
+    switch (vehicleType) {
+    case MAV_TYPE_GCS:
+    case MAV_TYPE_ONBOARD_CONTROLLER:
+    case MAV_TYPE_GIMBAL:
+    case MAV_TYPE_ADSB:
+        // These are not vehicles, so don't create a vehicle for them
+        return;
+    default:
+        // All other MAV_TYPEs create vehicles
+        break;
+    }
+
     qCDebug(MultiVehicleManagerLog()) << "Adding new vehicle link:vehicleId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
                                       << link->getName()
                                       << vehicleId