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GCS_MAVLink: Routing: forward ADSB if local ADSB parsing is disabled

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Iampete1 2024-03-04 16:11:30 +00:00 committed by Andrew Tridgell
parent 1285b132ee
commit fdfdbe8d13
1 changed files with 9 additions and 2 deletions
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11
libraries/GCS_MAVLink/MAVLink_routing.cpp
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@ -26,6 +26,8 @@
#include "GCS.h"
#include "MAVLink_routing.h"
#include <AP_ADSB/AP_ADSB.h>
extern const AP_HAL::HAL& hal;
#define ROUTING_DEBUG 0
@ -130,10 +132,15 @@ bool MAVLink_routing::check_and_forward(GCS_MAVLINK &in_link, const mavlink_mess
return true;
}
#if HAL_ADSB_ENABLED
if (msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
// ADSB packets are not forwarded, they have their own stream rate
return true;
// if enabled ADSB packets are not forwarded, they have their own stream rate
const AP_ADSB *adsb = AP::ADSB();
if ((adsb != nullptr) && (adsb->enabled())) {
return true;
}
}
#endif
// extract the targets for this packet
int16_t target_system = -1;