From 320d0b4f348e8e77b7a12e9d1fd390900a159eca Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 29 Jul 2025 19:17:29 +1000 Subject: [PATCH] GCS_MAVLink: remove restriction on accepting RC_CHANNELS_OVERRIDE from my-gcs this has always caused confusion. I think it might even predate the sysid-enforce stuff which is a superset of this --- libraries/GCS_MAVLink/GCS_Common.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index f889e90fb3038..4500fa4e9f973 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -4104,10 +4104,6 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg) // control of switch position and RC PWM values. void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg) { - if (!gcs().sysid_is_gcs(msg.sysid)) { - return; // Only accept control from our gcs - } - const uint32_t tnow = AP_HAL::millis(); mavlink_rc_channels_override_t packet; @@ -7327,10 +7323,6 @@ void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_ void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg) { - if (!gcs().sysid_is_gcs(msg.sysid)) { - return; // only accept control from our gcs - } - mavlink_manual_control_t packet; mavlink_msg_manual_control_decode(&msg, &packet);