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Tim Tuxworth
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NET_Pn set to UDP_CLIENT connect()'d its socket to the configured destination, which makes the kernel filter incoming packets to match that exact source address *and port*. That's fine for the common case of a device that replies from the same socket it was queried on, but some devices (confirmed against a real Topotek KHP415 gimbal) reply from a different, fixed source port instead - every reply was silently dropped before ArduPilot's own code ever saw it, regardless of NET_Pn config being otherwise correct. For a unicast destination, stop calling connect() and use sendto()/an unconnected recv() instead, checking the source IP ourselves (but not the port) before accepting a packet. Broadcast and multicast destinations keep the original connect()-based path unchanged, since connect() also does necessary setup for them (joining the multicast group via IP_ADD_MEMBERSHIP) unrelated to this fix, and neither is a point-to-point relationship that could hit this problem in the first place. Verified against the real KHP415 (which replies from a fixed but different port than it's queried on) by hand-crafting its wire protocol and sending it from an unconnected socket. Regression-tested against the existing TestLogDownloadMAVProxyNetwork suite (unicast/ multicast/broadcast UDP client, UDP server, TCP client/server) and the full AP_Mount network autotest suite - no regressions.