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Commit 47e9e985 authored by Gus Grubba's avatar Gus Grubba
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Checking for MAVLink 2.0 when first message is received.

parent 8f86bd29
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Showing with 10 additions and 12 deletions
src/comm/MAVLinkProtocol.cc
View file @ 47e9e985
...@@ -212,19 +212,17 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -212,19 +212,17 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
} }
if (decodeState == 1) if (decodeState == 1)
{ {
decodedFirstPacket = true; if(!decodedFirstPacket) {
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
/* if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
* Handled in Vehicle.cc now. qDebug() << "switch to mavlink 2.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel); mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) { } else if ((mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && !(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
qDebug() << "switch to mavlink 2.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags; qDebug() << "switch to mavlink 1.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1; mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
} else if ((mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && !(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) { }
qDebug() << "switch to mavlink 1.0" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags; decodedFirstPacket = true;
mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
} }
*/
if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS) if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
{ {
......
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