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mavlink: fix forwarding to target id >= 128

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The _MAV_PAYLOAD macro casts the value to a char*. Some compilers treat
char as signed, so we were getting negative system and component ids
if the id was >= 128. This caused later comparisons to fail which
resulted in messages not being forwarded.
This commit is contained in:
David Lechner
2021-11-10 21:14:21 -05:00
committed by Daniel Agar
parent 374d44f38f
commit d61f5d3d7b
1 changed files with 2 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+2 -2
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@@ -440,11 +440,11 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
if (meta) {
// Extract target system and target component if set
if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
target_system_id = (_MAV_PAYLOAD(msg))[meta->target_system_ofs];
target_system_id = static_cast<uint8_t>((_MAV_PAYLOAD(msg))[meta->target_system_ofs]);
}
if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
target_component_id = (_MAV_PAYLOAD(msg))[meta->target_component_ofs];
target_component_id = static_cast<uint8_t>((_MAV_PAYLOAD(msg))[meta->target_component_ofs]);
}
}