mavsdk_server: default to the first autopilot #2159
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JonasVautherin
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julianoes
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Oct 19, 2023
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Currently,
mavsdk_serverdefaults to being a ground station (i.e. it does not expose theConfiguration). When started,mavsdk_serverconnects to the first MAVLinkSystemit detects.The problem I have seen is that in some setups, there are sometimes MAVLink systems that are not an autopilot but that are advertising on the link that
mavsdk_serveris listening to. I had the issue with a Herelink radio, that advertises radio messages with sysid 42. For an app running on Herelink, ifmavsdk_serverpicks up the system "42" first, then there is nothing to do other than restarting it and hoping that it picks up the right system.Now I argue that the "right" system for
mavsdk_server, given the current situation where it defaults to being a ground station, is a system that has an autopilot (i.e. a drone).This PR makes
mavsdk_serverconnect not to the first system it encounters, but to the first drone (a.k.a. "system with an autopilot") it encounters.