MAVLink: Improve network handling

mazgch · Feb 9, 2016 · 3e02bb1 · 3e02bb1
1 parent fb8b981
commit 3e02bb1
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
@@ -1052,12 +1052,9 @@ Mavlink::init_udp()
 
 	/* set default target address, but not for onboard mode (will be set on first received packet) */
 	memset((char *)&_src_addr, 0, sizeof(_src_addr));
-	if (_mode != MAVLINK_MODE_ONBOARD) {
-		_src_addr.sin_family = AF_INET;
-		inet_aton("127.0.0.1", &_src_addr.sin_addr);
-		_src_addr.sin_port = htons(_remote_port);
-		set_client_source_initialized();
-	}
+	_src_addr.sin_family = AF_INET;
+	inet_aton("127.0.0.1", &_src_addr.sin_addr);
+	_src_addr.sin_port = htons(_remote_port);
 
 	/* default broadcast address */
 	memset((char *)&_bcast_addr, 0, sizeof(_bcast_addr));

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1825,6 +1825,7 @@ MavlinkReceiver::receive_thread(void *arg)
 					srcaddr_last->sin_addr.s_addr = srcaddr.sin_addr.s_addr;
 					srcaddr_last->sin_port = srcaddr.sin_port;
 					_mavlink->set_client_source_initialized();
+					warnx("changing partner IP to: %s", inet_ntoa(srcaddr.sin_addr));
 				}
 			}
 #endif