should fix inav bug ;)

OpenHD · Dec 11, 2023 · 3c5fba6 · 3c5fba6
1 parent 605546a
commit 3c5fba6
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
@@ -113,7 +113,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
         //qDebug()<<"Found OHD Ground station";
         MavlinkSettingsModel::instanceGround().set_ready();
     }else{
-        qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid<<"compid:"<<source_compid<<" source_sysid:"<<source_sysid;
+        //qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid<<"compid:"<<source_compid<<" source_sysid:"<<source_sysid;
         if(!m_fc_found){
             // For the fc we need to wait until we got an heartbeat
             /*if(msg.msgid==MAVLINK_MSG_ID_HEARTBEAT){
@@ -150,6 +150,11 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
                 m_fc_sys_id=source_sysid;
                 m_fc_comp_id=source_compid;
                 m_fc_found=true;
+            }else if(source_compid==MAV_COMP_ID_SYSTEM_CONTROL && source_sysid==1){
+                qDebug()<<"Found INAV FC:"<<source_sysid;
+                m_fc_sys_id=source_sysid;
+                m_fc_comp_id=source_compid;
+                m_fc_found=true;
             }
             else
             {