fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink_receiver: only switch outgoing MAVLink version to 2 if it was 1 before

Browse Source 
to avoid the message that comes with it being spammed.
This commit is contained in:
Matthias Grob 2025-10-14 17:36:48 +02:00
parent 4842c542b8
commit 7706aae67d
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -3229,7 +3229,8 @@ MavlinkReceiver::run()
if (mavlink_parse_char(_mavlink.get_channel(), buf[i], &msg, &_status)) {
// If we receive a complete MAVLink 2 packet, also switch the outgoing protocol version
if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
if (!(_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)
&& (_mavlink.get_status()->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
PX4_INFO("Upgrade to MAVLink v2 because of incoming packet");
_mavlink.set_protocol_version(2);
}