Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: calculate CRSF custom frame support correctly

This commit is contained in:
Andy Piper 2020-12-21 20:04:17 +00:00 committed by Peter Barker
parent 39219451bd
commit 23158480c7
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -162,7 +162,7 @@ void AP_CRSF_Telem::process_rf_mode_changes()
// return custom frame id based on fw version
uint8_t AP_CRSF_Telem::get_custom_telem_frame_id() const
{
if (!_crsf_version.pending && _crsf_version.major >= 4 && _crsf_version.minor >= 6) {
if (!_crsf_version.pending && (_crsf_version.major > 4 || (_crsf_version.major == 4 && _crsf_version.minor >= 6))) {
return AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM;
}
return AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM_LEGACY;