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don't use default source address for onboard udp link, wait on remote

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This commit is contained in:
Andreas Antener
2016-01-04 23:58:05 +01:00
parent 9415a6f890
commit 11ed5169cc
3 changed files with 18 additions and 6 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -1
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@@ -1814,10 +1814,12 @@ MavlinkReceiver::receive_thread(void *arg)
struct sockaddr_in * srcaddr_last = _mavlink->get_client_source_address();
int localhost = (127 << 24) + 1;
if (srcaddr_last->sin_addr.s_addr == htonl(localhost) && srcaddr.sin_addr.s_addr != htonl(localhost)) {
if ((srcaddr_last->sin_addr.s_addr == htonl(localhost) && srcaddr.sin_addr.s_addr != htonl(localhost))
|| (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_ONBOARD && !_mavlink->get_client_source_initialized())) {
// if we were sending to localhost before but have a new host then accept him
memcpy(srcaddr_last, &srcaddr, sizeof(srcaddr));
PX4_WARN("UDP source addr changed: %s", inet_ntoa(srcaddr.sin_addr));
_mavlink->set_client_source_initialized();
}
#endif
/* if read failed, this loop won't execute */