From 62bfd6c41dffa3502aaad5ecb4d8e3e1494a2d2e Mon Sep 17 00:00:00 2001 From: Mark Owen Date: Thu, 25 Jul 2019 14:04:48 -0600 Subject: [PATCH] Mavlink: Fix forwarding of messages with target system/component id Signed-off-by: Mark Owen --- src/modules/mavlink/mavlink_main.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 946aa8cce446..c3d7c77a5328 100644 --- 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]; } }