From 0ce307c55c8da783ad04af03b9844026bdf2113d Mon Sep 17 00:00:00 2001
From: muramura <ma2maru@gmail.com>
Date: Tue, 24 Sep 2024 20:43:37 +0900
Subject: [PATCH] AP_GPS: Suppress unnecessary telemetry transmission

---
 libraries/AP_GPS/AP_GPS.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 070276dd45c9f..a4ee179638995 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1369,6 +1369,10 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
 
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
+    if (params[0].type == GPS_TYPE_NONE) {  // If none, do not send telemetry.
+        return;
+    }
+
     const Location &loc = location(0);
     float hacc = 0.0f;
     float vacc = 0.0f;