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AP_GPS: add checking of instance number before update with incoming data

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Bron2002 2024-05-21 13:56:33 +03:00 committed by Peter Barker
parent f9a22458e2
commit 165b0e929f
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -47,6 +47,11 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
mavlink_gps_input_t packet;
mavlink_msg_gps_input_decode(&msg, &packet);
// check if target instance belongs to incoming gps data.
if (state.instance != packet.gps_id) {
return;
}
bool have_alt = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0);
bool have_hdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0);
bool have_vdop = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_VDOP) == 0);
@ -145,6 +150,11 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
mavlink_hil_gps_t packet;
mavlink_msg_hil_gps_decode(&msg, &packet);
// check if target instance belongs to incoming gps data.
if (state.instance != packet.id) {
return;
}
state.time_week = 0;
state.time_week_ms = packet.time_usec/1000;
state.status = (AP_GPS::GPS_Status)packet.fix_type;