Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

GCS_MAVLink: Don't start with MAVLink1 messages on a MAVLink2 connection #19502

Merged
merged 1 commit into from
Dec 14, 2021
Merged

GCS_MAVLink: Don't start with MAVLink1 messages on a MAVLink2 connection #19502

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 1 addition & 12 deletions libraries/GCS_MAVLink/GCS_Common.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -160,22 +160,11 @@ bool GCS_MAVLINK::init(uint8_t instance)
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2) {
// load signing key
load_signing_key();

if (status->signing == nullptr) {
// if signing is off start by sending MAVLink1.
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
} else if (status) {
// user has asked to only send MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}

if (chan == MAVLINK_COMM_0) {
// Always start with MAVLink1 on first port for now, to allow for recovery
// after experiments with MAVLink2
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}


return true;
}

Expand Down