From 7706aae67dac477111c3ba7bb792779ce2ac7cfb Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 14 Oct 2025 17:36:48 +0200 Subject: [PATCH] mavlink_receiver: only switch outgoing MAVLink version to 2 if it was 1 before to avoid the message that comes with it being spammed. --- src/modules/mavlink/mavlink_receiver.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 2aaad09a19..49ce052c01 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -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); }