Merge pull request #2081 from mavlink/pr-no-second-null-system

core: don't create a null system if not required
mavlink · Jun 13, 2023 · 0338c3e · 0338c3e
2 parents ed7ac07 + 15f539d
commit 0338c3e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/mavsdk/core/mavsdk_impl.cpp b/src/mavsdk/core/mavsdk_impl.cpp
@@ -535,7 +535,9 @@ std::pair<ConnectionResult, Mavsdk::ConnectionHandle> MavsdkImpl::setup_udp_remo
         new_conn->add_remote(remote_ip, remote_port);
         auto handle = add_connection(new_conn);
         std::lock_guard<std::recursive_mutex> lock(_systems_mutex);
-        make_system_with_component(0, 0);
+        if (_systems.empty()) {
+            make_system_with_component(0, 0);
+        }
         return {ret, handle};
     } else {
         return {ret, Mavsdk::ConnectionHandle{}};