From 05c0deae148adaac499ea5d8870e1046f61c17da Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 10 Feb 2021 09:54:37 -0800
Subject: [PATCH] UavcanNode:Only write alt id not booted by PX4

---
 src/drivers/uavcannode/UavcanNode.cpp | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index 6e2e4a2862..fbac32ffd4 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -251,13 +251,16 @@ void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<Uav
 
 		if (!inprogress) {
 			inprogress = true;
-			bootloader_alt_app_shared_t shared_alt{0};
-			shared_alt.fw_server_node_id = req.source_node_id;
-			shared_alt.node_id = _node.getNodeID().get();
-			shared_alt.path[0] = '\0';
-			strncat((char *)shared_alt.path, (const char *)req.image_file_remote_path.path.c_str(), sizeof(shared_alt.path) - 1);
-			bootloader_alt_app_shared_write(&shared_alt);
-			board_configure_reset(BOARD_RESET_MODE_CAN_BL, shared_alt.node_id);
+
+			if (!board_booted_by_px4()) {
+				bootloader_alt_app_shared_t shared_alt{0};
+				shared_alt.fw_server_node_id = req.source_node_id;
+				shared_alt.node_id = _node.getNodeID().get();
+				shared_alt.path[0] = '\0';
+				strncat((char *)shared_alt.path, (const char *)req.image_file_remote_path.path.c_str(), sizeof(shared_alt.path) - 1);
+				bootloader_alt_app_shared_write(&shared_alt);
+				board_configure_reset(BOARD_RESET_MODE_CAN_BL, shared_alt.node_id);
+			}
 
 			bootloader_app_shared_t shared;
 			shared.bus_speed = active_bitrate;