From 962eaaaf16a674eddaca90dd4f1857f02be924a1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 4 Jun 2017 22:05:14 +0200
Subject: [PATCH] MAVLink: Set v2 state also on incoming MAVLink 2 packets

---
 src/comm/MAVLinkProtocol.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 2be1915..16a9522 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -221,6 +221,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
                     qDebug() << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
                     mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+                    _current_version = 200;
                 }
                 link->setDecodedFirstMavlinkPacket(true);
             }