From 2bcdcb459b22ce4195783629d631f569d848d0d7 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Wed, 30 Oct 2019 17:14:10 +0100 Subject: [PATCH] CameraManager: identify camera component by MAV_TYPE, not compID --- src/Camera/QGCCameraManager.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Camera/QGCCameraManager.cc b/src/Camera/QGCCameraManager.cc index e85a45587..6f45a44ae 100644 --- a/src/Camera/QGCCameraManager.cc +++ b/src/Camera/QGCCameraManager.cc @@ -107,8 +107,8 @@ QGCCameraManager::_handleHeartbeat(const mavlink_message_t &message) { mavlink_heartbeat_t heartbeat; mavlink_msg_heartbeat_decode(&message, &heartbeat); - //-- Only pay attention to "camera" component IDs - if(_vehicleReadyState && _vehicle->id() == message.sysid && message.compid >= MAV_COMP_ID_CAMERA && message.compid <= MAV_COMP_ID_CAMERA6) { + //-- Only pay attention to camera components, as identified by their MAV_TYPE + if(_vehicleReadyState && _vehicle->id() == message.sysid && heartbeat.autopilot == MAV_AUTOPILOT_INVALID && heartbeat.type == MAV_TYPE_CAMERA) { //-- First time hearing from this one? QString sCompID = QString::number(message.compid); if(!_cameraInfoRequest.contains(sCompID)) { -- 2.22.0