From 8da15cb4098dc31552f5d410ccbd0ed42b1543b5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 27 Sep 2014 11:44:01 +0900
Subject: [PATCH] Copter: check target of set-mode request from GCS
Issue discovered and fix contributed by Deadolous
---
ArduCopter/GCS_Mavlink.pde | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 5d0da2f75..fb02a9b62 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -884,6 +884,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
+ // exit immediately if this command is not meant for this vehicle
+ if (mavlink_check_target(packet.target_system, 0)) {
+ break;
+ }
+
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (set_mode(packet.custom_mode)) {
--
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