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Copter: move handling of incoming statutext messages up

This commit is contained in:
Peter Barker 2017-07-12 17:21:28 +10:00 committed by Francisco Ferreira
parent 129d7220e6
commit 016eeaa258
2 changed files with 7 additions and 14 deletions
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19
ArduCopter/GCS_Mavlink.cpp
View File

@ -333,6 +333,11 @@ void Copter::send_pid_tuning(mavlink_channel_t chan)
}
}
uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
}
uint32_t GCS_MAVLINK_Copter::telem_delay() const
{
return (uint32_t)(copter.g.telem_delay);
@ -886,20 +891,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_STATUSTEXT:
{
// ignore any statustext messages not from our GCS:
if (msg->sysid != copter.g.sysid_my_gcs) {
break;
}
mavlink_statustext_t packet;
mavlink_msg_statustext_decode(msg, &packet);
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'};
memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
copter.DataFlash.Log_Write_Message(text);
break;
}
case MAVLINK_MSG_ID_GIMBAL_REPORT:
{
#if MOUNT == ENABLED

2
ArduCopter/GCS_Mavlink.h
View File

@ -20,6 +20,8 @@ protected:
AP_Mission *get_mission() override;
uint8_t sysid_my_gcs() const override;
private:
void handleMessage(mavlink_message_t * msg) override;