diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h index 36e0cd3fb0851b..b59ba9d93c3119 100644 --- a/libraries/GCS_MAVLink/GCS_MAVLink.h +++ b/libraries/GCS_MAVLink/GCS_MAVLink.h @@ -15,9 +15,9 @@ #define MAVLINK_START_UART_SEND(chan, size) comm_send_lock(chan, size) #define MAVLINK_END_UART_SEND(chan, size) comm_send_unlock(chan) -#if AP_NETWORKING_ENABLED -// allow 7 telemetry ports with networking -#define MAVLINK_COMM_NUM_BUFFERS 7 +#if BOARD_FLASH_SIZE > 1024 +// allow 8 telemetry ports, allowing for extra networking or CAN ports +#define MAVLINK_COMM_NUM_BUFFERS 8 #else // allow five telemetry ports #define MAVLINK_COMM_NUM_BUFFERS 5