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Mavlink: Fix forwarding of messages with target system/component id #12559

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merged 2 commits into from
Aug 13, 2019
Merged

Mavlink: Fix forwarding of messages with target system/component id #12559

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62bfd6c
Mavlink: Fix forwarding of messages with target system/component id
maowen Jul 25, 2019
55f1a79
Merge branch 'master' into mavlink_msg_forward_offset_fix
maowen Jul 29, 2019
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8 changes: 4 additions & 4 deletions src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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];
}
}

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