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Plane: Check MANUAL_CONTROL target

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Michael du Breuil 2018-04-03 16:20:13 -07:00 committed by Francisco Ferreira
parent 7ad0318d4f
commit 1af2155641
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/GCS_Mavlink.cpp
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@ -1418,11 +1418,17 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != plane.g.sysid_my_gcs) break; // Only accept control from our gcs
if (msg->sysid != plane.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
}
bool override_active = false;
int16_t roll = (packet.y == INT16_MAX) ? 0 : plane.channel_roll->get_radio_min() + (plane.channel_roll->get_radio_max() - plane.channel_roll->get_radio_min()) * (packet.y + 1000) / 2000.0f;
int16_t pitch = (packet.x == INT16_MAX) ? 0 : plane.channel_pitch->get_radio_min() + (plane.channel_pitch->get_radio_max() - plane.channel_pitch->get_radio_min()) * (-packet.x + 1000) / 2000.0f;