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GCS_MAVLink: do not run all commands received on private channel

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Co-authored-by: dawid.kopec.spectalight@gmail.com

returning true from this function means that we should run the command locally.  We really don't want to do that unless the command (or other targetted message) was actually sent at us!
This commit is contained in:
Peter Barker 2022-11-16 23:46:13 +11:00 committed by Randy Mackay
parent 33218b4bc9
commit 19ca387537
1 changed files with 11 additions and 7 deletions
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18
libraries/GCS_MAVLink/MAVLink_routing.cpp
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@ -101,20 +101,19 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
// so that find_mav_type works for all channels // so that find_mav_type works for all channels
learn_route(in_channel, msg); learn_route(in_channel, msg);
// don't ever forward data from a private channel
if ((GCS_MAVLINK::is_private(in_channel))) {
return true;
}
if (msg.msgid == MAVLINK_MSG_ID_RADIO || if (msg.msgid == MAVLINK_MSG_ID_RADIO ||
msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) { msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
// don't forward RADIO packets // don't forward RADIO packets
return true; return true;
} }
const bool from_private_channel = GCS_MAVLINK::is_private(in_channel);
if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) { if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
// heartbeat needs special handling // heartbeat needs special handling
handle_heartbeat(in_channel, msg); if (!from_private_channel) {
handle_heartbeat(in_channel, msg);
}
return true; return true;
} }
@ -135,6 +134,11 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
(target_component == mavlink_system.compid)); (target_component == mavlink_system.compid));
bool process_locally = match_system && match_component; bool process_locally = match_system && match_component;
// don't ever forward data from a private channel
if (from_private_channel) {
return process_locally;
}
if (process_locally && !broadcast_system && !broadcast_component) { if (process_locally && !broadcast_system && !broadcast_component) {
// nothing more to do - it can only be for us // nothing more to do - it can only be for us
return true; return true;