Merge pull request #96 from tridge/master

fixed waypoints with APM

src/uas/UASWaypointManager.cc

@@ -132,7 +132,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
 
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
-    if (current_state == WP_GETLIST && systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL)) {
+    if (current_state == WP_GETLIST && systemId == current_partner_systemid) {
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
 
@@ -172,7 +172,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp)
 {
-    if (systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
+    if (systemId == current_partner_systemid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
 
@@ -241,7 +241,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
 
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr)
 {
-    if (systemId == current_partner_systemid && (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
+    if (systemId == current_partner_systemid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;