From 6834b510573a104c5d3044f4e48f240a96b88510 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 24 Jun 2016 13:33:45 +0200 Subject: [PATCH] Fix calls to MAVLink API --- src/Vehicle/Vehicle.cc | 2 +- src/comm/MAVLinkProtocol.cc | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index 5463cea82..cbc818b8d 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -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]; diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index 9c7c60639..3002e1825 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -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 -- 2.22.0