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GCS_MAVLink: Don't start with MAVLink1 messages on a MAVLink2 connection

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Stephen Dade 2021-12-13 12:03:12 +11:00 committed by Randy Mackay
parent 7cbe48d1f6
commit c49fd7e908
1 changed files with 1 additions and 12 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -160,22 +160,11 @@ bool GCS_MAVLINK::init(uint8_t instance)
if (mavlink_protocol == AP_SerialManager::SerialProtocol_MAVLink2) {
// load signing key
load_signing_key();
if (status->signing == nullptr) {
// if signing is off start by sending MAVLink1.
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
} else if (status) {
// user has asked to only send MAVLink1
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
if (chan == MAVLINK_COMM_0) {
// Always start with MAVLink1 on first port for now, to allow for recovery
// after experiments with MAVLink2
status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
return true;
}