For this scenario:
Flight controller - companion computer (UART connection)
Companion computer running Mavlink-Router
Companion computer - GCS on ground computer (TCP/IP connection)
It seems that if the UART connection is broken, the mavlink-router still sends heartbeats to the ground computer from the companion computer.
This “tricks” the ground computer running the GCS into thinking the vehicle is still connected, even when it is not. This is a potentially very dangerous situation.
Is there a way to configure Mavlink-Router so that stops sending heartbeats to the ground computer from the companion computer if the vehicle disconnects from the companion computer?