Merge f20d5a9 into bceaaea

mavlink · Aug 30, 2018 · 4a21c82 · 4a21c82
2 parents bceaaea + f20d5a9
commit 4a21c82
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diff --git a/core/system_impl.cpp b/core/system_impl.cpp
@@ -424,6 +424,7 @@ void SystemImpl::request_autopilot_version()
         return;
     }
 
+#if defined(ENABLE_FALLBACK_TO_SYSTEM_ID)
     if (!_autopilot_version_pending && _uuid_retries >= 3) {
         // We give up getting a UUID and use the system ID.
 
@@ -433,6 +434,7 @@ void SystemImpl::request_autopilot_version()
         set_connected();
         return;
     }
+#endif
 
     _autopilot_version_pending = true;
 
@@ -444,7 +446,9 @@ void SystemImpl::request_autopilot_version()
     command.target_component_id = get_autopilot_id();
 
     send_command_async(command, nullptr);
+#if defined(ENABLE_FALLBACK_TO_SYSTEM_ID)
     ++_uuid_retries;
+#endif
 
     // We set a timeout to stay "pending" for half a second. This way, we don't give up too
     // early e.g. because multiple components send heartbeats and we receive them all at once

diff --git a/core/system_impl.h b/core/system_impl.h
@@ -17,6 +17,9 @@
 #include <mutex>
 #include <future>
 
+// TODO: Figure out what to do with systems without UUID.
+//#define ENABLE_FALLBACK_TO_SYSTEM_ID
+
 namespace dronecode_sdk {
 
 class DronecodeSDKImpl;
@@ -225,7 +228,9 @@ class SystemImpl {
 
     uint64_t _uuid{0};
 
+#if defined(ENABLE_FALLBACK_TO_SYSTEM_ID)
     int _uuid_retries = 0;
+#endif
     std::atomic<bool> _uuid_initialized{false};
 
     uint8_t _non_autopilot_heartbeats = 0;