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GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry

This commit is contained in:
Peter Barker 2023-08-12 11:14:23 +10:00 committed by Randy Mackay
parent 9fc8078df4
commit 049a3f187b
2 changed files with 5 additions and 4 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -169,7 +169,7 @@ public:
Type task; Type task;
MAV_CMD mav_cmd; MAV_CMD mav_cmd;
static class GCS_MAVLINK_InProgress *get_task(MAV_CMD cmd, Type t, uint8_t sysid, uint8_t compid); static class GCS_MAVLINK_InProgress *get_task(MAV_CMD cmd, Type t, uint8_t sysid, uint8_t compid, mavlink_channel_t chan);
static void check_tasks(); static void check_tasks();

7
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1251,7 +1251,7 @@ bool GCS_MAVLINK_InProgress::conclude(MAV_RESULT result)
return true; return true;
} }
GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MAVLINK_InProgress::Type t, uint8_t sysid, uint8_t compid) GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MAVLINK_InProgress::Type t, uint8_t sysid, uint8_t compid, mavlink_channel_t chan)
{ {
// we can't have two outstanding tasks for the same command from // we can't have two outstanding tasks for the same command from
// the same mavlink node or the result is ambiguous: // the same mavlink node or the result is ambiguous:
@ -1270,6 +1270,7 @@ GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MA
if (_task.task != Type::NONE) { if (_task.task != Type::NONE) {
continue; continue;
} }
_task.chan = chan;
_task.task = t; _task.task = t;
_task.mav_cmd = mav_cmd; _task.mav_cmd = mav_cmd;
_task.requesting_sysid = sysid; _task.requesting_sysid = sysid;
@ -4227,7 +4228,7 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro(const mavlink
AP_Airspeed *airspeed = AP_Airspeed::get_singleton(); AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) { if (airspeed != nullptr) {
GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_PREFLIGHT_CALIBRATION, GCS_MAVLINK_InProgress::Type::AIRSPEED_CAL, msg.sysid, msg.compid); GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_PREFLIGHT_CALIBRATION, GCS_MAVLINK_InProgress::Type::AIRSPEED_CAL, msg.sysid, msg.compid, chan);
if (task == nullptr) { if (task == nullptr) {
return MAV_RESULT_TEMPORARILY_REJECTED; return MAV_RESULT_TEMPORARILY_REJECTED;
} }
@ -5097,7 +5098,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
!is_equal(packet.param2, 1.0f)) { !is_equal(packet.param2, 1.0f)) {
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }
GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_STORAGE_FORMAT, GCS_MAVLINK_InProgress::Type::SD_FORMAT, msg.sysid, msg.compid); GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_STORAGE_FORMAT, GCS_MAVLINK_InProgress::Type::SD_FORMAT, msg.sysid, msg.compid, chan);
if (task == nullptr) { if (task == nullptr) {
return MAV_RESULT_TEMPORARILY_REJECTED; return MAV_RESULT_TEMPORARILY_REJECTED;
} }