Mavlink: Fix forwarding of messages with target system/component id

Signed-off-by: Mark Owen <maowen801@gmail.com>
PX4 · Jul 25, 2019 · 62bfd6c · 62bfd6c
1 parent 71613ac
commit 62bfd6c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -441,12 +441,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 			// might be nullptr if message is unknown
 			if (meta) {
 				// Extract target system and target component if set
-				if (meta->target_system_ofs != 0) {
-					target_system_id = ((uint8_t *)msg)[meta->target_system_ofs];
+				if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
+					target_system_id = (_MAV_PAYLOAD(msg))[meta->target_system_ofs];
 				}
 
-				if (meta->target_component_ofs != 0) {
-					target_component_id = ((uint8_t *)msg)[meta->target_component_ofs];
+				if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
+					target_component_id = (_MAV_PAYLOAD(msg))[meta->target_component_ofs];
 				}
 			}