From 7ec4c1419ca89e6be0925b7e05f59a195804c26a Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 20 Sep 2024 09:19:29 +0200 Subject: [PATCH] mavlink_mission: only accept a mission request list on an ongoing transfer, when it is the same partner --- src/modules/mavlink/mavlink_mission.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 70d3389e79..a75ad7fdd0 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -730,8 +730,9 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg) switch_to_idle_state(); } - if (_state == MAVLINK_WPM_STATE_IDLE || (_state == MAVLINK_WPM_STATE_SENDLIST - && (uint8_t)_mission_type == wprl.mission_type)) { + if ((_state == MAVLINK_WPM_STATE_IDLE) || ((_state == MAVLINK_WPM_STATE_SENDLIST) + && ((uint8_t)_mission_type == wprl.mission_type) && (msg->sysid == _transfer_partner_sysid) + && (msg->compid == _transfer_partner_compid))) { _time_last_recv = hrt_absolute_time(); _state = MAVLINK_WPM_STATE_SENDLIST;