AP_GPS: add checking of instance number before update with incoming data

ArduPilot · May 29, 2024 · ad5bab7 · ad5bab7
1 parent faf47f2
commit ad5bab7
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -49,7 +49,9 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
 
             // check if target instatce belong to incoming gps data.
             if (state.instance != packet.gps_id)
+            {
                 return;
+            }
 
             bool have_alt    = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0);
             bool have_hdop   = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0);
@@ -150,7 +152,9 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
 
             // check if target instatce belong to incoming gps data.
             if (state.instance != packet.id)
+            {
                 return;
+            }
 
             state.time_week = 0;
             state.time_week_ms  = packet.time_usec/1000;