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Rover: move accept_packet to GCS_MAVLink base class

This commit is contained in:
Peter Barker 2018-12-14 10:12:34 +11:00 committed by Peter Barker
parent 759a8e5553
commit 588829161b
2 changed files with 5 additions and 15 deletions
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18
APMrover2/GCS_Mavlink.cpp
View File

@ -291,6 +291,10 @@ uint8_t GCS_MAVLINK_Rover::sysid_my_gcs() const
{ {
return rover.g.sysid_my_gcs; return rover.g.sysid_my_gcs;
} }
bool GCS_MAVLINK_Rover::sysid_enforce() const
{
return rover.g2.sysid_enforce;
}
uint32_t GCS_MAVLINK_Rover::telem_delay() const uint32_t GCS_MAVLINK_Rover::telem_delay() const
{ {
@ -1190,20 +1194,6 @@ void Rover::mavlink_delay_cb()
DataFlash.EnableWrites(true); DataFlash.EnableWrites(true);
} }
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/
bool GCS_MAVLINK_Rover::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg)
{
if (!rover.g2.sysid_enforce) {
return true;
}
if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
return true;
}
return (msg.sysid == rover.g.sysid_my_gcs);
}
AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const
{ {
#if ADVANCED_FAILSAFE == ENABLED #if ADVANCED_FAILSAFE == ENABLED

2
APMrover2/GCS_Mavlink.h
View File

@ -12,13 +12,13 @@ public:
protected: protected:
uint32_t telem_delay() const override; uint32_t telem_delay() const override;
bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
AP_Rally *get_rally() const override; AP_Rally *get_rally() const override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override; AP_AdvancedFailsafe *get_advanced_failsafe() const override;
AP_VisualOdom *get_visual_odom() const override; AP_VisualOdom *get_visual_odom() const override;
uint8_t sysid_my_gcs() const override; uint8_t sysid_my_gcs() const override;
bool sysid_enforce() const override;
bool set_mode(uint8_t mode) override; bool set_mode(uint8_t mode) override;