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GCS_MAVLink: don't learn a route to the broadcast component 

Using a component ID of 0 for your source is invalid according to
common.xml

However, some clients do use it.

This stops us learning a route to that client for the broadcast client
for our own system ID.
This commit is contained in:
Peter Barker 2020-06-17 12:09:30 +10:00 committed by Andrew Tridgell
parent 308bc64f35
commit d3ba7a8409
1 changed files with 14 additions and 3 deletions
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17
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -266,9 +266,20 @@ bool MAVLink_routing::find_by_mavtype(uint8_t mavtype, uint8_t &sysid, uint8_t &
void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t &msg)
{
uint8_t i;
if (msg.sysid == 0 ||
(msg.sysid == mavlink_system.sysid &&
msg.compid == mavlink_system.compid)) {
if (msg.sysid == 0) {
// don't learn routes to the broadcast system
return;
}
if (msg.sysid == mavlink_system.sysid &&
msg.compid == mavlink_system.compid) {
// don't learn routes to ourself. We know where we are.
return;
}
if (msg.sysid == mavlink_system.sysid &&
msg.compid == MAV_COMP_ID_ALL) {
// don't learn routes to the broadcast component ID for our
// own system id. We should still broadcast these, but we
// should also process them locally.
return;
}
for (i=0; i<num_routes; i++) {