AP_RCTelemetry: calculate CRSF custom frame support correctly

4 years ago · 23158480c7
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@ -162,7 +162,7 @@ void AP_CRSF_Telem::process_rf_mode_changes()
				@@ -162,7 +162,7 @@ void AP_CRSF_Telem::process_rf_mode_changes()
 // return custom frame id based on fw version
 uint8_t AP_CRSF_Telem::get_custom_telem_frame_id() const
 {
-    if (!_crsf_version.pending && _crsf_version.major >= 4 && _crsf_version.minor >= 6) {
+    if (!_crsf_version.pending && (_crsf_version.major > 4 || (_crsf_version.major == 4 && _crsf_version.minor >= 6))) {
        return AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM;
    }
    return AP_RCProtocol_CRSF::CRSF_FRAMETYPE_AP_CUSTOM_TELEM_LEGACY;