From d4b588f84a2fccfe9d253373fe8ea1386c839c2f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 28 Aug 2016 10:40:00 +0200
Subject: [PATCH] Fix proto version selection
---
src/modules/mavlink/mavlink_main.cpp | 5 +++--
src/modules/mavlink/mavlink_receiver.cpp | 2 +-
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a7ccd4d255..3d82101bff 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -216,7 +216,7 @@ Mavlink::Mavlink() :
_last_write_success_time(0),
_last_write_try_time(0),
_mavlink_start_time(0),
- _protocol_version_switch(0),
+ _protocol_version_switch(-1),
_protocol_version(0),
_bytes_tx(0),
_bytes_txerr(0),
@@ -336,7 +336,8 @@ Mavlink::~Mavlink()
void
Mavlink::set_proto_version(unsigned version)
{
- if (version == 1 || ((version == 0) && !_received_messages)) {
+ if ((version == 1 || version == 0) &&
+ ((_protocol_version_switch == 0) || (_protocol_version_switch == 1))) {
get_status()->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
_protocol_version = 1;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 8824b8c2d2..bed54c56da 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2090,7 +2090,7 @@ MavlinkReceiver::receive_thread(void *arg)
#endif
mavlink_message_t msg;
- struct pollfd fds[1];
+ struct pollfd fds[1] = {};
if (_mavlink->get_protocol() == SERIAL) {
fds[0].fd = _mavlink->get_uart_fd();
--
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