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Fix proto version selection

This commit is contained in:
Lorenz Meier 2016-08-28 10:40:00 +02:00
parent 19c2ae615f
commit d4b588f84a
2 changed files with 4 additions and 3 deletions
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5
src/modules/mavlink/mavlink_main.cpp
View File

@ -216,7 +216,7 @@ Mavlink::Mavlink() :
_last_write_success_time(0),
_last_write_try_time(0),
_mavlink_start_time(0),
_protocol_version_switch(0),
_protocol_version_switch(-1),
_protocol_version(0),
_bytes_tx(0),
_bytes_txerr(0),
@ -336,7 +336,8 @@ Mavlink::~Mavlink()
void
Mavlink::set_proto_version(unsigned version)
{
if (version == 1 || ((version == 0) && !_received_messages)) {
if ((version == 1 || version == 0) &&
((_protocol_version_switch == 0) || (_protocol_version_switch == 1))) {
get_status()->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
_protocol_version = 1;

2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -2090,7 +2090,7 @@ MavlinkReceiver::receive_thread(void *arg)
#endif
mavlink_message_t msg;
struct pollfd fds[1];
struct pollfd fds[1] = {};
if (_mavlink->get_protocol() == SERIAL) {
fds[0].fd = _mavlink->get_uart_fd();