GCS_MAVLink: do not re-broadcast heartbeat msgs originated from the g…

…imbal

This is required because with the current implementation on the handset(artoo) it causes a bug.

libraries/GCS_MAVLink/MAVLink_routing.cpp

@@ -201,6 +201,12 @@ void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_me
 */
 void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t* msg)
 {
+    if (msg->compid == MAV_COMP_ID_GIMBAL)
+    {
+        //Mask out gimbal messages, since those are causing problems for the controller
+        return;
+    }
+
     uint16_t mask = GCS_MAVLINK::active_channel_mask();
 
     // don't send on the incoming channel. This should only matter if