From 7de00469a6be95520d3791b73e165170081d4c3d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 13 Oct 2021 16:34:45 -0400 Subject: [PATCH] platforms: nuttx px4_init fix USB serial mavlink autodetect --- platforms/nuttx/src/px4/common/px4_init.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp index 21324c5180..47384ae002 100644 --- a/platforms/nuttx/src/px4/common/px4_init.cpp +++ b/platforms/nuttx/src/px4/common/px4_init.cpp @@ -150,7 +150,7 @@ static void mavlink_usb_check(void *arg) if (nread >= MAVLINK_HEARTBEAT_MIN_LENGTH) { // scan buffer for mavlink HEARTBEAT (v1 & v2) for (int i = 0; i < nread - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) { - if ((buffer[i] = 0xFE) && (buffer[i + 1] = 9) && (buffer[i + 5] == 0)) { + if ((buffer[i] == 0xFE) && (buffer[i + 1] == 9) && (buffer[i + 5] == 0)) { // mavlink v1 HEARTBEAT // buffer[0]: start byte (0xFE for mavlink v1) // buffer[1]: length (9 for HEARTBEAT) @@ -162,7 +162,7 @@ static void mavlink_usb_check(void *arg) launch_mavlink = true; break; - } else if ((buffer[i] = 0xFD) && (buffer[i + 1] = 9) + } else if ((buffer[i] == 0xFD) && (buffer[i + 1] == 9) && (buffer[i + 7] == 0) && (buffer[i + 8] == 0) && (buffer[i + 9] == 0)) { // mavlink v2 HEARTBEAT // buffer[0]: start byte (0xFD for mavlink v2)