From ae2dfe002642bd0e445255fecc26280468bcda85 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 4 Sep 2015 19:11:17 +0200 Subject: [PATCH] Fix MAVLink network init --- src/modules/mavlink/mavlink_main.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 4928010830..1dfc4cbe17 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -94,6 +94,7 @@ #endif static const int ERROR = -1; +#define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec #define DEFAULT_DEVICE_NAME "/dev/ttyS1" #define MAX_DATA_RATE 10000000 ///< max data rate in bytes/s #define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate @@ -885,6 +886,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID ret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr)); } else if (get_protocol() == TCP) { // not implemented, but possible to do so + warnx("TCP transport pending implementation"); } #endif @@ -975,9 +977,10 @@ Mavlink::init_udp() } // set default target address + memset((char *)&_src_addr, 0, sizeof(_src_addr)); _src_addr.sin_family = AF_INET; inet_aton("127.0.0.1", &_src_addr.sin_addr); - _src_addr.sin_port = htons(_network_port); + _src_addr.sin_port = htons(DEFAULT_REMOTE_PORT_UDP); #endif }