From 23158480c78f6c966028dad6d7d7c34ec14676ca Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 21 Dec 2020 20:04:17 +0000 Subject: [PATCH] AP_RCTelemetry: calculate CRSF custom frame support correctly --- libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp index e1a265bbd9..966839c890 100644 --- 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() // 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;