Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-09 08:04:14 -03:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: handle serial loopback in routing

Browse Source
This commit is contained in:
Andrew Tridgell 2015-02-26 14:58:42 +11:00
parent 086f878bdc
commit 2aae594371
1 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -92,6 +92,13 @@ routing table.
*/ */
bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg) 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 new routes
learn_route(in_channel, msg); learn_route(in_channel, msg);