From 7fb1aecd9fa39d5009e400cacb5ca39bc16af169 Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 21:22:31 +0100
Subject: [PATCH 1/6] dirty test for inav bug

---
 app/telemetry/MavlinkTelemetry.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index 2bd491822..72703f426 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -113,6 +113,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
         //qDebug()<<"Found OHD Ground station";
         MavlinkSettingsModel::instanceGround().set_ready();
     }else{
+        qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid;
         if(!m_fc_found){
             // For the fc we need to wait until we got an heartbeat
             /*if(msg.msgid==MAVLINK_MSG_ID_HEARTBEAT){

From 3f63c47cd21191776917a4912329eb19b306118a Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 21:26:55 +0100
Subject: [PATCH 2/6] dirty test for inav bug 2

---
 app/telemetry/MavlinkTelemetry.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index 72703f426..7e53ee4a9 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -113,7 +113,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
         //qDebug()<<"Found OHD Ground station";
         MavlinkSettingsModel::instanceGround().set_ready();
     }else{
-        qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid;
+        qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid<<"compid:"<<source_compid<<" source_sysid:"<<source_sysid;
         if(!m_fc_found){
             // For the fc we need to wait until we got an heartbeat
             /*if(msg.msgid==MAVLINK_MSG_ID_HEARTBEAT){

From 605546a78000f904d9f7623f245b1624d34c4630 Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 21:28:49 +0100
Subject: [PATCH 3/6] dirty test for inav bug 3

---
 qml/ui/configpopup/status/StatusCardBodyOpenHD.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/qml/ui/configpopup/status/StatusCardBodyOpenHD.qml b/qml/ui/configpopup/status/StatusCardBodyOpenHD.qml
index 8994b341f..5bd147581 100644
--- a/qml/ui/configpopup/status/StatusCardBodyOpenHD.qml
+++ b/qml/ui/configpopup/status/StatusCardBodyOpenHD.qml
@@ -155,7 +155,7 @@ Column {
             if(air_fc_sys_id==-1){
                 return "NOT FOUND"
             }
-            return ""+air_fc_sys_id;
+            return "FOUND:"+air_fc_sys_id;
         }
         m_error_text: {
             var air_fc_sys_id=_ohdSystemAir.air_reported_fc_sys_id;

From 3c5fba679f66eb311f16225f2074017e6df29b63 Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 22:12:09 +0100
Subject: [PATCH 4/6] should fix inav bug ;)

---
 app/telemetry/MavlinkTelemetry.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index 7e53ee4a9..ee27efe3f 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -113,7 +113,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
         //qDebug()<<"Found OHD Ground station";
         MavlinkSettingsModel::instanceGround().set_ready();
     }else{
-        qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid<<"compid:"<<source_compid<<" source_sysid:"<<source_sysid;
+        //qDebug()<<"MavlinkTelemetry::XonProcessMavlinkMessage"<<msg.msgid<<"compid:"<<source_compid<<" source_sysid:"<<source_sysid;
         if(!m_fc_found){
             // For the fc we need to wait until we got an heartbeat
             /*if(msg.msgid==MAVLINK_MSG_ID_HEARTBEAT){
@@ -150,6 +150,11 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
                 m_fc_sys_id=source_sysid;
                 m_fc_comp_id=source_compid;
                 m_fc_found=true;
+            }else if(source_compid==MAV_COMP_ID_SYSTEM_CONTROL && source_sysid==1){
+                qDebug()<<"Found INAV FC:"<<source_sysid;
+                m_fc_sys_id=source_sysid;
+                m_fc_comp_id=source_compid;
+                m_fc_found=true;
             }
             else
             {

From 382d278ea1eaac544b278bd57b74f0ec339fd0c9 Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 22:13:42 +0100
Subject: [PATCH 5/6] should fix inav bug ;) - make nice

---
 app/telemetry/MavlinkTelemetry.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index ee27efe3f..b373f6af8 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -151,6 +151,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
                 m_fc_comp_id=source_compid;
                 m_fc_found=true;
             }else if(source_compid==MAV_COMP_ID_SYSTEM_CONTROL && source_sysid==1){
+                // Aparently INAV uses a weird comp id & sys id 1
                 qDebug()<<"Found INAV FC:"<<source_sysid;
                 m_fc_sys_id=source_sysid;
                 m_fc_comp_id=source_compid;

From 82cb1d6ca4447ccf598beb3b3d6e5f01593c290c Mon Sep 17 00:00:00 2001
From: consti10 <geierconstantinabc@gmail.com>
Date: Mon, 11 Dec 2023 22:21:41 +0100
Subject: [PATCH 6/6] should fix inav bug ;) - make nice 3

---
 app/telemetry/MavlinkTelemetry.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index b373f6af8..34203fd1e 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -153,6 +153,7 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
             }else if(source_compid==MAV_COMP_ID_SYSTEM_CONTROL && source_sysid==1){
                 // Aparently INAV uses a weird comp id & sys id 1
                 qDebug()<<"Found INAV FC:"<<source_sysid;
+                FCMavlinkSystem::instance().set_system_id(source_sysid);
                 m_fc_sys_id=source_sysid;
                 m_fc_comp_id=source_compid;
                 m_fc_found=true;