ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.cpp

32 lines
951 B
C++
Raw Normal View History

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file GCS_MAVLink.cpp
/*
This provides some support code and variables for MAVLink enabled sketches
This firmware is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <GCS_MAVLink.h>
BetterStream *mavlink_comm_0_port;
BetterStream *mavlink_comm_1_port;
mavlink_system_t mavlink_system = {7,1,0,0};
uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
{
if (sysid != mavlink_system.sysid)
return 1;
// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
// If it is addressed to our system ID we assume it is for us
return 0; // no error
}