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GCS_MAVLink: fixed auto-switching to MAVLink2

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This commit is contained in:
Andrew Tridgell 2016-01-22 14:41:11 +11:00
parent 4ba09671a4
commit 7aae93e3e0
1 changed files with 15 additions and 0 deletions
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15
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -104,6 +104,12 @@ GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager
#if MAVLINK_PROTOCOL_VERSION >= 2
// load signing key
load_signing_key();
mavlink_status_t *status = mavlink_get_channel_status(chan);
if (status && status->signing == NULL) {
// if signing is off start by sending MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
#endif
}
@ -926,6 +932,15 @@ GCS_MAVLINK::update(run_cli_fn run_cli)
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
}
#if MAVLINK_PROTOCOL_VERSION >= 2
if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) &&
(status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
mavlink_status_t *cstatus = mavlink_get_channel_status(chan);
if (cstatus != NULL) {
cstatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
}
#endif
// if a snoop handler has been setup then use it
if (msg_snoop != NULL) {
msg_snoop(&msg);