From 0f49058fbde12e66012afa47802e554d6fa8515a Mon Sep 17 00:00:00 2001 From: yaapu Date: Sun, 10 Jan 2021 17:43:24 +0100 Subject: [PATCH] AP_MSP: fix for missing ACK on unsupported MSP messages MSP requires all messages to be acknowledged even if unsupported --- libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp index 518e331882..3d29fa825e 100644 --- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp +++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp @@ -459,7 +459,8 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_command(uint16_t cmd_msp, case MSP_RC: return msp_process_out_rc(dst); default: - return MSP_RESULT_ERROR; + // MSP always requires an ACK even for unsupported messages + return MSP_RESULT_ACK; } }