From 2aae59437136fe610f8b899ac3fbd2111f3694b4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 26 Feb 2015 14:58:42 +1100
Subject: [PATCH] GCS_MAVLink: handle serial loopback in routing

---
 libraries/GCS_MAVLink/MAVLink_routing.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/GCS_MAVLink/MAVLink_routing.cpp b/libraries/GCS_MAVLink/MAVLink_routing.cpp
index 059aa5f305..420b3f1930 100644
--- a/libraries/GCS_MAVLink/MAVLink_routing.cpp
+++ b/libraries/GCS_MAVLink/MAVLink_routing.cpp
@@ -92,6 +92,13 @@ routing table.
 */
 bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg)
 {
+    // handle the case of loopback of our own messages, due to
+    // incorrect serial configuration.
+    if (msg->sysid == mavlink_system.sysid && 
+        msg->compid == mavlink_system.compid) {
+        return true;
+    }
+
     // learn new routes
     learn_route(in_channel, msg);