From e6ec11d40ca31ff6d69a140964988ea0aee22ed5 Mon Sep 17 00:00:00 2001
From: Bohdan Shubenok <b.shubenok@sirinsoftware.com>
Date: Tue, 9 Jul 2024 14:04:24 +0300
Subject: [PATCH] AP_DroneCAN: Serial: Receive all serial messagess that has
 right `target_node` field

---
 libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
index 56102a4d305dba..4efd173ef8d683 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
@@ -116,7 +116,7 @@ void AP_DroneCAN_Serial::handle_tunnel_targetted(AP_DroneCAN *dronecan,
     }
     auto &s = *serial[driver_index];
     for (auto &p : s.ports) {
-        if (p.idx == msg.serial_id && transfer.source_node_id == p.node) {
+        if (p.idx == msg.serial_id && msg.target_node == dronecan->get_canard_iface().get_node_id()) {
             WITH_SEMAPHORE(p.sem);
             if (p.readbuffer != nullptr) {
                 p.readbuffer->write(msg.buffer.data, msg.buffer.len);