From c3f20aa7ab9117d6b20022ebbf0fa2c0e4f7c71b Mon Sep 17 00:00:00 2001 From: ecmnet Date: Mon, 31 Jan 2022 13:13:46 +0100 Subject: [PATCH] Request grid only if MSP is active --- MAVGCL/src/main/java/com/comino/flight/MainApp.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/MAVGCL/src/main/java/com/comino/flight/MainApp.java b/MAVGCL/src/main/java/com/comino/flight/MainApp.java index f35a594cb..abda6afa5 100644 --- a/MAVGCL/src/main/java/com/comino/flight/MainApp.java +++ b/MAVGCL/src/main/java/com/comino/flight/MainApp.java @@ -323,7 +323,7 @@ else if(args.get("ip")!=null) wq.addSingleTask("LP",300, () -> { control.getStatusManager().reset(); control.sendMAVLinkCmd(MAV_CMD.MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES, 1); - if(!control.getCurrentModel().sys.isStatus(Status.MSP_INAIR, Status.MSP_ACTIVE)) { + if(!control.getCurrentModel().sys.isStatus(Status.MSP_INAIR) && control.getCurrentModel().sys.isStatus(Status.MSP_ACTIVE)) { control.sendMSPLinkCmd(MSP_CMD.MSP_TRANSFER_MICROSLAM); MSPLogger.getInstance().writeLocalMsg("[mgc] grid data requested",MAV_SEVERITY.MAV_SEVERITY_NOTICE); }