From 339d49d34a36443f1d2dc5a5f4064a81e7a4951f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 13 Nov 2015 13:37:20 +1100
Subject: [PATCH] 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.
---
 libraries/GCS_MAVLink/MAVLink_routing.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/MAVLink_routing.cpp b/libraries/GCS_MAVLink/MAVLink_routing.cpp
index 12ade32671..f8c7b28959 100644
--- a/libraries/GCS_MAVLink/MAVLink_routing.cpp
+++ b/libraries/GCS_MAVLink/MAVLink_routing.cpp
@@ -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) {