From 3afbd0293565832d7aa7da9302e46f4767ad3a88 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Wed, 28 Jun 2017 19:35:44 -0700 Subject: [PATCH] Allow RADIO_STATUS message to pass through to vehicle --- src/Vehicle/Vehicle.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 078be78e9..a441da788 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -464,9 +464,11 @@ void Vehicle::resetCounters() void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message) { - if (message.sysid != _id && message.sysid != 0) { - return; + // We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled + if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) { + return; + } } if (!_containsLink(link)) { -- 2.22.0