From 0fd9b0cf2ae0c74ab5cd22e19489786f31281b2f Mon Sep 17 00:00:00 2001
From: Pete A <peter.allenm@gmail.com>
Date: Sun, 1 Oct 2023 23:21:37 +0100
Subject: [PATCH] Fix betaflight telematry by supporting source_sysid of 0

---
 app/telemetry/MavlinkTelemetry.cpp       | 11 +++++++++++
 app/telemetry/models/fcmavlinksystem.cpp |  4 ++--
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index f5ae11567..b9bd9d5f5 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -105,6 +105,17 @@ void MavlinkTelemetry::process_mavlink_message(const mavlink_message_t& msg)
                 m_fc_comp_id=source_compid;
                 m_fc_found=true;
             }
+            else if(source_sysid==0){
+                qDebug()<<"Found betaflight 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;
+            }
+            else
+            {
+                qDebug()<<"Got weird system:"<<source_sysid;
+            }
         }
 
     }
diff --git a/app/telemetry/models/fcmavlinksystem.cpp b/app/telemetry/models/fcmavlinksystem.cpp
index 6a2873de5..71f1fa1d8 100644
--- a/app/telemetry/models/fcmavlinksystem.cpp
+++ b/app/telemetry/models/fcmavlinksystem.cpp
@@ -487,13 +487,13 @@ std::optional<uint8_t> FCMavlinkSystem::get_fc_sys_id()
         return std::nullopt;
     }
     auto sys_id=m_sys_id;
-    assert(sys_id>0);
+    assert(sys_id>=0);
     return sys_id;
 }
 
 bool FCMavlinkSystem::set_system_id(int sys_id)
 {
-    if(sys_id<=0 || sys_id >= UINT8_MAX){
+    if(sys_id<0 || sys_id >= UINT8_MAX){
         qWarning()<<"Invalid sys id";
         return false;
     }