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GCS_MAVLink: fixed corner case in MAVLink routing 

when a GCS sends a command to a system ID that isn't our system ID,
the GCS may use a non-advertised component ID such as
MAV_COMP_ID_SYSTEM_CONTROL. Those packets should be fowarded to the
target system even though the target system has not specifically
advertised that target sysid/compid tuple.
This commit is contained in:
Andrew Tridgell 2015-11-13 13:37:20 +11:00 committed by Randy Mackay
parent 5b765ef0d9
commit 339d49d34a
1 changed files with 2 additions and 1 deletions
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3
libraries/GCS_MAVLink/MAVLink_routing.cpp
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@ -132,7 +132,8 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
for (uint8_t i=0; i<num_routes; i++) {
if (broadcast_system || (target_system == routes[i].sysid &&
(broadcast_component ||
target_component == routes[i].compid))) {
target_component == routes[i].compid ||
!match_system))) {
if (in_channel != routes[i].channel && !sent_to_chan[routes[i].channel]) {
if (comm_get_txspace(routes[i].channel) >=
((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {