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Merge pull request #1228 from PX4/mavlinkonboard

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Mavlink onboard
This commit is contained in:
Lorenz Meier
2014-07-29 02:25:42 -07:00
parent e2c96876f2 80a197f0ff
commit 1ab6eb2fb8
2 changed files with 8 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+6 -1
View File
@@ -483,7 +483,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) {
inst->pass_message(msg);
/* if not in normal mode, we are an onboard link
* onboard links should only pass on messages from the same system ID */
if(!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
inst->pass_message(msg);
}
}
}
}
src/modules/mavlink/mavlink_receiver.cpp
+2 -1
View File
@@ -241,7 +241,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD spoofed with same SYS/COMP ID");
warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
mavlink_system.sysid, mavlink_system.compid);
return;
}