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Commit 6834b510 authored by Lorenz Meier's avatar Lorenz Meier
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Fix calls to MAVLink API

parent 6389d2fc
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Showing with 3 additions and 3 deletions
src/Vehicle/Vehicle.cc
View file @ 6834b510
......@@ -792,7 +792,7 @@ void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
_firmwarePlugin->adjustOutgoingMavlinkMessage(this, &message);
static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
......
src/comm/MAVLinkProtocol.cc
View file @ 6834b510
......@@ -446,7 +446,7 @@ void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t messag
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Rewriting header to ensure correct link ID is set
static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected
......@@ -469,7 +469,7 @@ void MAVLinkProtocol::_sendMessage(LinkInterface* link, mavlink_message_t messag
static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Rewriting header to ensure correct link ID is set
static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
mavlink_finalize_message_chan(&message, systemid, componentid, link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
mavlink_finalize_message_chan(&message, systemid, componentid, link->getMavlinkChannel(), message.len, message.len, messageKeys[message.msgid]);
// Write message into buffer, prepending start sign
int len = mavlink_msg_to_send_buffer(buffer, &message);
// If link is connected
......
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