Sub: update for sysid_is_gcs()

tridge · tridge · commit 815a2ae5aff8 · 2025-07-15T17:28:39.000+10:00
diff --git a/ArduSub/GCS_MAVLink_Sub.cpp b/ArduSub/GCS_MAVLink_Sub.cpp
@@ -457,7 +457,7 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)
     switch (msg.msgid) {
 
     case MAVLINK_MSG_ID_MANUAL_CONTROL: {     // MAV ID: 69
-        if (msg.sysid != gcs().sysid_gcs()) {
+        if (!gcs().sysid_is_gcs(msg.sysid)) {
             break;    // Only accept control from our gcs
         }
         mavlink_manual_control_t packet;
@@ -493,7 +493,7 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)
     }
 
     case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: {     // MAV ID: 70
-        if (msg.sysid != gcs().sysid_gcs()) {
+        if (!gcs().sysid_is_gcs(msg.sysid)) {
             break;    // Only accept control from our gcs
         }
 
diff --git a/ArduSub/failsafe.cpp b/ArduSub/failsafe.cpp
@@ -337,7 +337,7 @@ void Sub::failsafe_gcs_check()
     // Send a warning every 30 seconds
     if (tnow - failsafe.last_gcs_warn_ms > 30000) {
         failsafe.last_gcs_warn_ms = tnow;
-        gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: %u, heartbeat lost", unsigned(gcs().sysid_gcs()));
+        gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: heartbeat lost");
     }
 
     // do nothing if we have already triggered the failsafe action, or if the motors are disarmed

Original file line number	Diff line number	Diff line change
`@@ -457,7 +457,7 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)`
`457`	`457`	`switch (msg.msgid) {`
`458`	`458`
`459`	`459`	`case MAVLINK_MSG_ID_MANUAL_CONTROL: { // MAV ID: 69`
`460`		`- if (msg.sysid != gcs().sysid_gcs()) {`
	`460`	`+ if (!gcs().sysid_is_gcs(msg.sysid)) {`
`461`	`461`	`break; // Only accept control from our gcs`
`462`	`462`	`}`
`463`	`463`	`mavlink_manual_control_t packet;`
`@@ -493,7 +493,7 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)`
`493`	`493`	`}`
`494`	`494`
`495`	`495`	`case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // MAV ID: 70`
`496`		`- if (msg.sysid != gcs().sysid_gcs()) {`
	`496`	`+ if (!gcs().sysid_is_gcs(msg.sysid)) {`
`497`	`497`	`break; // Only accept control from our gcs`
`498`	`498`	`}`
`499`	`499`
Original file line number	Diff line number	Diff line change
`@@ -337,7 +337,7 @@ void Sub::failsafe_gcs_check()`
`337`	`337`	`// Send a warning every 30 seconds`
`338`	`338`	`if (tnow - failsafe.last_gcs_warn_ms > 30000) {`
`339`	`339`	`failsafe.last_gcs_warn_ms = tnow;`
`340`		`- gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: %u, heartbeat lost", unsigned(gcs().sysid_gcs()));`
	`340`	`+ gcs().send_text(MAV_SEVERITY_WARNING, "MYGCS: heartbeat lost");`
`341`	`341`	`}`
`342`	`342`
`343`	`343`	`// do nothing if we have already triggered the failsafe action, or if the motors are disarmed`