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GCS_MAVLink: don't learn a route to the broadcast component #14620

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merged 2 commits into from Oct 21, 2020
Merged

GCS_MAVLink: don't learn a route to the broadcast component #14620

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8ae3d0d
GCS_MAVLink: don't learn a route to the broadcast component
peterbarker Jun 17, 2020
3b833a1
GCS_MAVLink: process messages sent to broadcast system
peterbarker Oct 9, 2020
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20 changes: 16 additions & 4 deletions libraries/GCS_MAVLink/MAVLink_routing.cpp
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Expand Up @@ -177,7 +177,8 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
}
}

if (!forwarded && match_system) {
if ((!forwarded && match_system) ||
broadcast_system) {
process_locally = true;
}

Expand Down Expand Up @@ -266,9 +267,20 @@ bool MAVLink_routing::find_by_mavtype(uint8_t mavtype, uint8_t &sysid, uint8_t &
void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t &msg)
{
uint8_t i;
if (msg.sysid == 0 ||
(msg.sysid == mavlink_system.sysid &&
msg.compid == mavlink_system.compid)) {
if (msg.sysid == 0) {
// don't learn routes to the broadcast system
return;
}
if (msg.sysid == mavlink_system.sysid &&
msg.compid == mavlink_system.compid) {
// don't learn routes to ourself. We know where we are.
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it would be funnier with "We know who we are" :)

return;
}
if (msg.sysid == mavlink_system.sysid &&
msg.compid == MAV_COMP_ID_ALL) {
// don't learn routes to the broadcast component ID for our
// own system id. We should still broadcast these, but we
// should also process them locally.
return;
}
for (i=0; i<num_routes; i++) {
Expand Down