Index: libmavconn/src/tcp.cpp
===================================================================
--- libmavconn.orig/src/tcp.cpp
+++ libmavconn/src/tcp.cpp
@@ -41,13 +41,19 @@ static bool resolve_address_tcp(io_servi
 	error_code ec;
 
 	tcp::resolver::query query(host, "");
-	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(),
-			[&](const tcp::endpoint & q_ep) {
-				ep = q_ep;
-				ep.port(port);
-				result = true;
-				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-			});
+
+	auto fn = [&](const tcp::endpoint & q_ep) {
+		ep = q_ep;
+		ep.port(port);
+		result = true;
+		CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+	};
+
+#if BOOST_ASIO_VERSION >= 101200
+	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
+#else
+	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(), fn);
+#endif
 
 	if (ec) {
 		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
@@ -112,7 +118,7 @@ void MAVConnTCPClient::client_connected(
 			server_channel, conn_id, to_string_ss(server_ep).c_str());
 
 	// start recv
-	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_recv, shared_from_this()));
+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_recv, shared_from_this()));
 }
 
 MAVConnTCPClient::~MAVConnTCPClient()
@@ -152,7 +158,7 @@ void MAVConnTCPClient::send_bytes(const
 
 		tx_q.emplace_back(bytes, length);
 	}
-	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
 }
 
 void MAVConnTCPClient::send_message(const mavlink_message_t *message)
@@ -174,7 +180,7 @@ void MAVConnTCPClient::send_message(cons
 
 		tx_q.emplace_back(message);
 	}
-	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
 }
 
 void MAVConnTCPClient::send_message(const mavlink::Message &message)
@@ -194,7 +200,7 @@ void MAVConnTCPClient::send_message(cons
 
 		tx_q.emplace_back(message, get_status_p(), sys_id, comp_id);
 	}
-	socket.get_io_service().post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
+	static_cast<boost::asio::io_service&>(socket.get_executor().context()).post(std::bind(&MAVConnTCPClient::do_send, shared_from_this(), true));
 }
 
 void MAVConnTCPClient::do_recv()
Index: libmavconn/src/udp.cpp
===================================================================
--- libmavconn.orig/src/udp.cpp
+++ libmavconn/src/udp.cpp
@@ -41,13 +41,19 @@ static bool resolve_address_udp(io_servi
 	error_code ec;
 
 	udp::resolver::query query(host, "");
-	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(),
-			[&](const udp::endpoint & q_ep) {
-				ep = q_ep;
-				ep.port(port);
-				result = true;
-				CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
-			});
+
+	auto fn = [&](const udp::endpoint & q_ep) {
+		ep = q_ep;
+		ep.port(port);
+		result = true;
+		CONSOLE_BRIDGE_logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+	};
+
+#if BOOST_ASIO_VERSION >= 101200
+	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
+#else
+	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(), fn);
+#endif
 
 	if (ec) {
 		CONSOLE_BRIDGE_logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());