From e840006ff9426755177f88664735511bd7bdbe12 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Tue, 3 Apr 2018 16:20:40 -0700 Subject: [PATCH] Sub: Check MANUAL_CONTROL target --- ArduSub/GCS_Mavlink.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index e7e0f4acad..4e07080626 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -931,6 +931,10 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg) mavlink_manual_control_t packet; mavlink_msg_manual_control_decode(msg, &packet); + if (packet.target != sub.g.sysid_this_mav) { + break; // only accept control aimed at us + } + sub.transform_manual_control_to_rc_override(packet.x,packet.y,packet.z,packet.r,packet.buttons); sub.failsafe.last_pilot_input_ms = AP_HAL::millis();